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Position/force switching control of a miniature gripper
Qingsong Xu1; Kok Kiong Tan2
2016
Source PublicationAdvances in Industrial Control
Publication PlaceSwitzerland
PublisherSpringer International Publishing
Pages233-253
Abstract

This chapter presents the design and implementation of combined position and force control of a piezoelectrically actuated compliant gripper. The challenge of achieving a smooth transition between the position and force switching control is addressed by means of an incremental control scheme. Precision control under the influence of hysteretic nonlinearity is guaranteed by a digital sliding-mode control (DSMC) algorithm. The scheme is implemented with an FPGA platform. Experimental investigations are undertaken to verify the effectiveness of the gripper system by executing grasp-hold-release operations of a micro copper wire.

DOI10.1007/978-3-319-21623-2_11
URLView the original
Language英語English
ISBN978-3-319-21623-2; 978-3-319-21622-5
Indexed ByBKCI-S
WOS IDWOS:000368107000013
WOS SubjectAutomation & Control Systems ; Nanoscience & Nanotechnology
WOS Research AreaAutomation & Control Systems ; Science & Technology - Other Topics
Scopus ID2-s2.0-85018436599
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Cited Times [WOS]:0   [WOS Record]     [Related Records in WOS]
Document TypeBook chapter
CollectionDEPARTMENT OF ELECTROMECHANICAL ENGINEERING
Corresponding AuthorQingsong Xu; Kok Kiong Tan
Affiliation1.Department of Electromechanical Engineering,University of Macau,Macau,Macao
2.Department of Electrical and Computer Engineering,National University of Singapore,Singapore,Singapore
First Author AffilicationUniversity of Macau
Recommended Citation
GB/T 7714
Qingsong Xu,Kok Kiong Tan. Position/force switching control of a miniature gripper. Switzerland:Springer International Publishing,2016:233-253.
APA Qingsong Xu,&Kok Kiong Tan.(2016).Position/force switching control of a miniature gripper.Advances in Industrial Control,174,233-253.
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