Title :
Sensing microgripper with PID control
Author :
Huu, P. Phan ; Nguyen, V.Q. ; Duc, T. Chu ; Sarro, P.M.
Author_Institution :
Colege of Technol, Vietnam Nat. Univ., Hanoi
Abstract :
This paper presents a novel sensing microgripper based on silicon-polymer electrothermal actuators and piezoresistive force sensing cantilever beams which can be controlled by a PID controller to monitor the displacement of the microgripper jaws and also the contact force between the tips and the grabbed object.
Keywords :
cantilevers; grippers; micromanipulators; piezoelectric actuators; piezoresistive devices; three-term control; PID control; contact force; piezoresistive force sensing cantilever beams; sensing microgripper; silicon-polymer electrothermal actuators; Actuators; Control systems; Displacement control; Electrothermal effects; Grippers; Monitoring; Piezoresistance; Silicon; Structural beams; Three-term control;
Conference_Titel :
Advanced Technologies for Communications, 2008. ATC 2008. International Conference on
Conference_Location :
Hanoi
Print_ISBN :
978-1-4244-2680-5
Electronic_ISBN :
978-1-4244-2681-2
DOI :
10.1109/ATC.2008.4760586
