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
收藏
页码：23 / 28
页数：6
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