Force Control of a Robot Gripper Featuring Shape Memory Alloy Actuators

被引：0

作者：

Shaw, Jin-Siang ^{[1
]}

Lee, Jin-Long ^{[1
]}

机构：

[1] Natl Taipei Univ Teclmol, Inst Mechatron Engn, Taipei 10608, Taiwan

来源：

2014 INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND INTELLIGENT SYSTEMS (ARIS 2014) | 2014年

关键词：

fuzzy sliding-mode control; shape memory alloy; force control; anti-slip control;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this paper, we present design of a gripper for a robot arm. Our research brings out a new driven mechanism with shape memory alloy instead of servo motor as our actuator, and also the gripper is equipped with a force sensor inside. The fuzzy sliding-mode method is our control rule, and furthermore there is an anti-slipping control rule to avoid grabbing unknown object with insufficient force. The whole control strategies are integrated into a Microchip dsPIC MCU with DSP core inside which is good at dealing with complicated float-point calculation. Gripper can change grabbing force in real-time based on fuzzy sliding-mode control due to different weight objects. Finally, we grab five different objects with our gripper to verify our control strategy in the experiment.

引用

页码：23 / 28

页数：6

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