Title :
Vision-based control of SMA-actuated polymer microgripper with force sensing
Author :
Chang, R.J. ; Shiu, C.C.
Author_Institution :
Dept. of Mech. Eng., Nat. Cheng Kung Univ., Tainan, Taiwan
Abstract :
A vision-based control of SMA-actuated polymer gripper with force sensing is implemented and tested. The gripper system consists of PU (polyurethane) mechanism of gripper with force sensing arm, SMA actuator, and visual-based position and force sensing system. The information of gripper motion is tracked by utilizing computer-vision method through extended Regional Edge Statistics (ERES) algorithm. The position information of gripper tips together with the deflection of force sensing arm is utilized for sensing force. Closed-loop control including PI, PI-FF (PI with feedforward), and FE-PI (fuzzy expert PI) controller are implemented and tested. FE-PI controller is employed for testing the performance of sensing gripping force in grasping of 38μm metal rod.
Keywords :
PI control; closed loop systems; feedforward; fuzzy control; grippers; microactuators; micromanipulators; polymers; position control; robot vision; statistical analysis; ERES algorithm; FE-PI controller; PI-FF control; SMA actuator; SMA-actuated polymer microgripper; closed-loop control; computer-vision; extended regional edge statistics; feedforward control; force sensing; fuzzy expert PI controller; gripper motion; polyurethane mechanism; vision-based control; visual-based position sensing system; Actuators; Erbium; Feedforward neural networks; Force; Grippers; Sensors; Testing; SMA; control; force sensing; polymer microgripper; vision;
Conference_Titel :
Mechatronics and Automation (ICMA), 2011 International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-8113-2
DOI :
10.1109/ICMA.2011.5986304
