This chapter presents the design and implementation of combined position and force control of a piezoelectrically actuated compliant gripper. The challenge of achieving a smooth transition between the position and force switching control is addressed by means of an incremental control scheme. Precision control under the influence of hysteretic nonlinearity is guaranteed by a digital sliding-mode control (DSMC) algorithm. The scheme is implemented with an FPGA platform. Experimental investigations are undertaken to verify the effectiveness of the gripper system by executing grasp-hold-release operations of a micro copper wire.
CITATION STYLE
Xu, Q., & Tan, K. K. (2016). Position/force switching control of a miniature gripper. In Advances in Industrial Control (Vol. 174, pp. 233–253). Springer International Publishing. https://doi.org/10.1007/978-3-319-21623-2_11
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