Vision-based control of SMA-actuated polymer microgripper with force sensing
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| 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. |
| Author:
| Chang, R.J.; Shiu, C.C.; |
| Author Unit:
| Dept. of Mech. Eng., Nat. Cheng Kung Univ., Tainan, Taiwan |
| Year: | 2011 |
| Source: | Mechatronics and Automation (ICMA), 2011 International Conference on |
| Volume-OnPage: | 2095-2100 |
| Publication Date:
| 7-10 Aug. 2011 |
| Keyword: | |
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