Identification and control of a sensorized microgripper for micromanipulation

Jungyul Park; Sangmin Kim; Deok Ho Kim; Byungkyu Kim; Sang Joo Kwon; Jong Oh Park; Kyo Il Lee

doi:10.1109/TMECH.2005.856103

Identification and control of a sensorized microgripper for micromanipulation

Jungyul Park, Sangmin Kim, Deok Ho Kim, Byungkyu Kim, Sang Joo Kwon, Jong Oh Park, Kyo Il Lee

Research output: Contribution to journal › Article › peer-review

24 Scopus citations

Abstract

This paper presents the design and control of a sensorized microgripper using a voice coil motor and a flexure mechanism. To increase the gripping sensitivity, shape design and determination of sensor attachment position are performed using finite element analysis. Empirical models of the microgripper are acquired for the design of position control and gripping force control. By using the identified models, both the perfect tracking controller for position control and the adaptive zero-phase error tracking controller for force control are implemented. The effectiveness of the proposed model-based control methods is verified by experimental studies.

Original language	English (US)
Pages (from-to)	601-606
Number of pages	6
Journal	IEEE/ASME Transactions on Mechatronics
Volume	10
Issue number	5
DOIs	https://doi.org/10.1109/TMECH.2005.856103
State	Published - Oct 2005
Externally published	Yes

Keywords

Adaptive zero-phase error tracking controller
Force control
Microgripper
Micromanipulation
Strain gauge sensors

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

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10.1109/TMECH.2005.856103

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title = "Identification and control of a sensorized microgripper for micromanipulation",

abstract = "This paper presents the design and control of a sensorized microgripper using a voice coil motor and a flexure mechanism. To increase the gripping sensitivity, shape design and determination of sensor attachment position are performed using finite element analysis. Empirical models of the microgripper are acquired for the design of position control and gripping force control. By using the identified models, both the perfect tracking controller for position control and the adaptive zero-phase error tracking controller for force control are implemented. The effectiveness of the proposed model-based control methods is verified by experimental studies.",

keywords = "Adaptive zero-phase error tracking controller, Force control, Microgripper, Micromanipulation, Strain gauge sensors",

author = "Jungyul Park and Sangmin Kim and Kim, {Deok Ho} and Byungkyu Kim and Kwon, {Sang Joo} and Park, {Jong Oh} and Lee, {Kyo Il}",

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AU - Park, Jungyul

AU - Kim, Sangmin

AU - Kim, Deok Ho

AU - Kim, Byungkyu

AU - Kwon, Sang Joo

AU - Park, Jong Oh

AU - Lee, Kyo Il

PY - 2005/10

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N2 - This paper presents the design and control of a sensorized microgripper using a voice coil motor and a flexure mechanism. To increase the gripping sensitivity, shape design and determination of sensor attachment position are performed using finite element analysis. Empirical models of the microgripper are acquired for the design of position control and gripping force control. By using the identified models, both the perfect tracking controller for position control and the adaptive zero-phase error tracking controller for force control are implemented. The effectiveness of the proposed model-based control methods is verified by experimental studies.

AB - This paper presents the design and control of a sensorized microgripper using a voice coil motor and a flexure mechanism. To increase the gripping sensitivity, shape design and determination of sensor attachment position are performed using finite element analysis. Empirical models of the microgripper are acquired for the design of position control and gripping force control. By using the identified models, both the perfect tracking controller for position control and the adaptive zero-phase error tracking controller for force control are implemented. The effectiveness of the proposed model-based control methods is verified by experimental studies.

KW - Adaptive zero-phase error tracking controller

KW - Force control

KW - Microgripper

KW - Micromanipulation

KW - Strain gauge sensors

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Identification and control of a sensorized microgripper for micromanipulation

Abstract

Keywords

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