Design and implementation of the electric gripper control system based on the DSP

Author

Zhanglei Chen ; Jianming Xu ; Li Yu ; Yuansheng Xiong ; Haitao Zhu

Author_Institution

Coll. of Inf. Eng., Zhejiang Univ. of Technol., Hangzhou, China

fYear

2014

fDate

May 31 2014-June 2 2014

Firstpage

3513

Lastpage

3517

Abstract

A kind of electric gripper control system is introduced in this paper. The control system is based on three closed loops structure without a pressure sensor. The DSP and brushless DC motor are used as its control core and power component. The traditional PID control algorithm is used to design the current controller, speed controller and position/force controller. A current comparison method is considered to solve the problem of switching between the position and force work status. The PC control software of the electric gripper is developed with Labview. The experimental results show the effectiveness of the electric gripper control system.

Keywords

brushless DC motors; closed loop systems; electric current control; force control; grippers; position control; signal processing; velocity control; DSP; Labview; brushless DC motor; closed loops structure; current comparison method; current controller; digital signal processing; direct current motor; electric gripper control system; force controller; position controller; speed controller; Digital signal processing; Educational institutions; Force; Force control; Grippers; MATLAB; Brushless DC Motor; Electric Gripper; Position/force Control; Three Closed Loops Structure;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference (2014 CCDC), The 26th Chinese

Conference_Location

Changsha

Print_ISBN

978-1-4799-3707-3

Type

conf

DOI

10.1109/CCDC.2014.6852787

Filename

6852787