Title :
Control of a servo-pneumatic gripper with individually movable jaws
Author :
Gauchel, Dipl Ing W ; Schell, Dipl Ing R
Author_Institution :
RWTH Aachen University, Institute for Fluid Power Drives and Controls, D-52074, Germany
Abstract :
The paper describes the control of a servo-pneumatic gripper with individually movable jaws. After the description of the developed gripper, the position controller, which uses an observer to generate a velocity signal, is introduced. The observer is created and parameterized with the Simulation Tool DSHplus so that an easy creation and usage also for people with a miner comprehension of non-linear-pneumatic systems is guaranteed. At least some measurement results are shown. By means of the good positioning accuracy with a deviation smaller of 0.1 mm the operability and the capability of the presented controller system can be demonstrated.
Keywords :
Assembly; Control systems; Force control; Grippers; MATLAB; Mathematical model; Open loop systems; Prototypes; Signal generators; Velocity control;
Conference_Titel :
Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, 2006 IEEE
Conference_Location :
Munich, Germany
Print_ISBN :
0-7803-9797-5
Electronic_ISBN :
0-7803-9797-5
DOI :
10.1109/CACSD-CCA-ISIC.2006.4776748
