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

共 22 条

[11] Intelligent Robotic Gripper Control Strategy [J].

Huang, Shiuh-Jer ;

Chang, Wei-Han ;

Su, Jui-Yiao .

MATERIALS PROCESSING AND MANUFACTURING III, PTS 1-4, 2013, 753-755 :2006-+

[12]

Kai-Hung Liang, 2013, International Journal of Automation and Smart Technology, V3, P265, DOI 10.5875/ausmt.v3i4.209

[13] REALIZATION OF ROBOT MOTION BASED ON A LEARNING-METHOD [J].

KAWAMURA, S ;

MIYAZAKI, F ;

ARIMOTO, S .

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS, 1988, 18 (01) :126-133

[14]

Kazemi M., 2012, P ROBOTICS SCI SYSTE

[15]

Kumon Makoto, 2007, 2 INT C IEEE

[16]

LIEGEOIS A, 1977, IEEE T SYST MAN CYB, V7, P868

[17]

Munih Marko, 2012, 2012 4 IEEE RAS EMBS

[18]

Shiuh-Jer Huang, 2013, Applied Mechanics and Materials, V284-287, P1841, DOI 10.4028/www.scientific.net/AMM.284-287.1841

[19] Active position control of a shape memory alloy wire actuated composite beam [J].

Song, GB ;

Kelly, B ;

Agrawal, BN .

SMART MATERIALS & STRUCTURES, 2000, 9 (05) :711-716

[20] FUZZY IDENTIFICATION OF SYSTEMS AND ITS APPLICATIONS TO MODELING AND CONTROL [J].

TAKAGI, T ;

SUGENO, M .

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS, 1985, 15 (01) :116-132

← 1 2 3 →