DocumentCode
2634212
Title
Machine Vision Force Feedback for Electrostatic Microgrippers
Author
Wierzbicki, Rafal ; Hotzendorfer, H. ; Adda, Cedric
Author_Institution
Nascatec GmbH Wankel-Str., Stuttgart
fYear
2007
fDate
11-14 Nov. 2007
Firstpage
260
Lastpage
264
Abstract
In this paper we present design considerations and a prototype of a machine vision implemented force feedback system for silicon electrostatic microgrippers. A model of the gripper system is presented and experimentally identified. A tuned PID control system for the gripper´s tips opening and gripping force level is presented. The accuracy and the resolution of the system are estimated at levels of 0.250 muN and 0.075 muN, respectively. Finally, Results of gripping experiments are presented.
Keywords
force feedback; grippers; micromanipulators; robot vision; silicon; three-term control; machine vision force feedback; silicon electrostatic microgripper; tuned PID control system; Electrostatics; Force control; Force feedback; Grippers; Machine vision; Manipulator dynamics; Mechanical factors; Nanobioscience; Robot vision systems; Silicon;
fLanguage
English
Publisher
ieee
Conference_Titel
Micro-NanoMechatronics and Human Science, 2007. MHS '07. International Symposium on
Conference_Location
Nagoya
Print_ISBN
978-1-4244-1858-9
Electronic_ISBN
978-1-4244-1858-9
Type
conf
DOI
10.1109/MHS.2007.4420863
Filename
4420863
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