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

Ren-Jung Chang, C. C. Shiu

研究成果: Conference contribution

3 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
頁面2095-2100
頁數6
DOIs
出版狀態Published - 2011 十一月 17
事件2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 - Beijing, China
持續時間: 2011 八月 72011 八月 10

出版系列

名字2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

Other

Other2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
國家/地區China
城市Beijing
期間11-08-0711-08-10

All Science Journal Classification (ASJC) codes

  • 人工智慧
  • 電氣與電子工程
  • 機械工業

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