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 journalArticlepeer-review

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 languageEnglish (US)
Pages (from-to)601-606
Number of pages6
JournalIEEE/ASME Transactions on Mechatronics
Volume10
Issue number5
DOIs
StatePublished - Oct 2005
Externally publishedYes

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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