Distributed Control Intelligent Robotic Gripper

被引：2

作者：

Huang, Shiuh-Jer ^{[1
]}

Chang, Wei-Han ^{[1
]}

Su, Jui-Yiao ^{[2
]}

Liu, Yan-Chen ^{[2
]}

机构：

[1] Natl Taiwan Univ Sci & Technol, Dept Mech Engn, Taipei 106, Taiwan

[2] Ind Technol Res Inst, Hsinchu 31040, Taiwan

来源：

APPLIED SCIENCE AND PRECISION ENGINEERING INNOVATION, PTS 1 AND 2 | 2014年 / 479-480卷

关键词：

intelligent gripper; force control; anti-slip scheme and fuzzy sliding mode control;

D O I：

10.4028/www.scientific.net/AMM.479-480.742

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

An intelligent gripper is designed with embedded distributed control structure for overcoming the uncertainty of grasped object mass and soft/hard features. An efficient model-free intelligent fuzzy sliding mode control strategy is employed to design the position and force controllers of gripper, respectively. Experimental results of pick-and-place soft and hard objects with grasping force auto-tuning and anti-slip control strategy are shown by pictures to verify this distributed system performance. The position and force tracking errors are less than 1 mm and 0.1 N, respectively.

引用

页码：742 / +

页数：2

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