Distributed Control Intelligent Robotic Gripper

Shiuh Jer Huang; Wei Han Chang; Jui Yiao Su; Yan Chen Liu

doi:10.4028/www.scientific.net/AMM.479-480.742

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 479-480Distributed Control Intelligent Robotic Gripper

Distributed Control Intelligent Robotic Gripper

Abstract:

An intelligent gripper is designed with embedded distributed control structure for overcoming the uncertainty of grasped object mass and soft/hard features. An efficient model-free intelligent fuzzy sliding mode control strategy is employed to design the position and force controllers of gripper, respectively. Experimental results of pick-and-place soft and hard objects with grasping force auto-tuning and anti-slip control strategy are shown by pictures to verify this distributed system performance. The position and force tracking errors are less than 1 mm and 0.1 N, respectively.

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Periodical:

Applied Mechanics and Materials (Volumes 479-480)

Pages:

742-746

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.479-480.742

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Online since:

December 2013

Authors:

Shiuh Jer Huang, Wei Han Chang, Jui Yiao Su, Yan Chen Liu

Keywords:

Anti-Slip Scheme, Force Control, Fuzzy Sliding Mode Control, Intelligent Gripper

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