Identification and control of a sensorized microgripper for micromanipulation

被引：23
|
作者：
Park, J [1 ]
Kim, S
Kim, DH
Kim, B
Kwon, SJ
Park, JO
Lee, KI
机构：
[1] Korea Inst Sci & Technol, Microsyst Res Ctr, Seoul 130650, South Korea
[2] Chonnam Natl Univ, Sch Mech Syst Engn, Kwangju 500757, South Korea
[3] Seoul Natl Univ, Sch Mech & Aerosp Engn, Seoul 151742, South Korea
来源：
IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2005年 / 10卷 / 05期
关键词：
adaptive zero-phase error tracking controller; force control; microgripper; micromanipulation; strain gauge sensors;
D O I：
10.1109/TMECH.2005.856103
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents the design and control of a sensorized microgripper using a voice coil motor and a flexure mechanism. To increase the gripping sensitivity, shape design and determination of sensor attachment position are performed using finite element analysis. Empirical models of the microgripper are acquired for the design of position control and gripping force control. By using the identified models, both the perfect tracking controller for position control and the adaptive zero-phase error tracking controller for force control are implemented. The effectiveness of the proposed model-based control methods is verified by experimental studies.
引用
收藏
页码：601 / 606
页数：6
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