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A switching position/force controller for two independent finger gripper over ROS

Mobile Robot Manipulation of diverse objects is still a very difficult task. Progress in mobile robot localization, path planning and perception, have allowed to mobile robots to contend with manipulation in some domains. Parallels manipulators are commonly used, however in order to do robust grasping, as humans do, the use of independent fingers are increasing. The problem of independent fingers is to assure robust manipulation on behalf the variations between the position and control of the fingers. In this work it is presented a system for object manipulation by a robotic gripper with independent fingers (with angular motion) each of them equipped with a position/force sensor. The system deal with the problem of adjusting the position of the fingers controlled independently over the middleware ROS, in order to guaranty that object is at center position on the gripper. Once it is done, the system switch to a force controller apply the correct force on each independent finger. The proposed system uses two proportional integral derivative (PID) controller; one to control the position of the object, and the second one to control the force applied on the object. The experiments are carried out to asses, if the object is centered and lifted by the gripper without releasing. Results obtained are presented and discussed.