{"title":"具有力传感的sma驱动聚合物微夹持器的视觉控制","authors":"R. Chang, C. Shiu","doi":"10.1109/ICMA.2011.5986304","DOIUrl":null,"url":null,"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.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"52 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":"{\"title\":\"Vision-based control of SMA-actuated polymer microgripper with force sensing\",\"authors\":\"R. Chang, C. Shiu\",\"doi\":\"10.1109/ICMA.2011.5986304\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":317730,\"journal\":{\"name\":\"2011 IEEE International Conference on Mechatronics and Automation\",\"volume\":\"52 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2011-08-15\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"4\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2011 IEEE International Conference on Mechatronics and Automation\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICMA.2011.5986304\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2011 IEEE International Conference on Mechatronics and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICMA.2011.5986304","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Vision-based control of SMA-actuated polymer microgripper with force sensing
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.
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