Vision-based control of SMA-actuated polymer microgripper with force sensing

Ren-Jung Chang, C. C. Shiu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

A vision-based control of SMA-actuated polymer gripper with force sensing is implemented and tested. The gripper system consists of PU (polyurethane) mechanism of gripper with force sensing arm, SMA actuator, and visual-based position and force sensing system. The information of gripper motion is tracked by utilizing computer-vision method through extended Regional Edge Statistics (ERES) algorithm. The position information of gripper tips together with the deflection of force sensing arm is utilized for sensing force. Closed-loop control including PI, PI-FF (PI with feedforward), and FE-PI (fuzzy expert PI) controller are implemented and tested. FE-PI controller is employed for testing the performance of sensing gripping force in grasping of 38μm metal rod.

Original languageEnglish
Title of host publication2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
Pages2095-2100
Number of pages6
DOIs
Publication statusPublished - 2011 Nov 17
Event2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 - Beijing, China
Duration: 2011 Aug 72011 Aug 10

Publication series

Name2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

Other

Other2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
CountryChina
CityBeijing
Period11-08-0711-08-10

Fingerprint

Grippers
Polymers
Controllers
Computer vision
Polyurethanes
Actuators
Statistics
Testing
Metals

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Mechanical Engineering

Cite this

Chang, R-J., & Shiu, C. C. (2011). Vision-based control of SMA-actuated polymer microgripper with force sensing. In 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 (pp. 2095-2100). [5986304] (2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011). https://doi.org/10.1109/ICMA.2011.5986304
Chang, Ren-Jung ; Shiu, C. C. / Vision-based control of SMA-actuated polymer microgripper with force sensing. 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011. 2011. pp. 2095-2100 (2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011).
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Chang, R-J & Shiu, CC 2011, Vision-based control of SMA-actuated polymer microgripper with force sensing. in 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011., 5986304, 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011, pp. 2095-2100, 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011, Beijing, China, 11-08-07. https://doi.org/10.1109/ICMA.2011.5986304

Vision-based control of SMA-actuated polymer microgripper with force sensing. / Chang, Ren-Jung; Shiu, C. C.

2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011. 2011. p. 2095-2100 5986304 (2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Chang R-J, Shiu CC. Vision-based control of SMA-actuated polymer microgripper with force sensing. In 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011. 2011. p. 2095-2100. 5986304. (2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011). https://doi.org/10.1109/ICMA.2011.5986304