TY - GEN
T1 - Vision-based control of SMA-actuated polymer microgripper with force sensing
AU - Chang, R. J.
AU - Shiu, C. C.
PY - 2011
Y1 - 2011
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=81055149660&partnerID=8YFLogxK
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U2 - 10.1109/ICMA.2011.5986304
DO - 10.1109/ICMA.2011.5986304
M3 - Conference contribution
AN - SCOPUS:81055149660
SN - 9781424481149
T3 - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
SP - 2095
EP - 2100
BT - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
T2 - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
Y2 - 7 August 2011 through 10 August 2011
ER -