Title :
Machine Vision Force Feedback for Electrostatic Microgrippers
Author :
Wierzbicki, Rafal ; Hotzendorfer, H. ; Adda, Cedric
Author_Institution :
Nascatec GmbH Wankel-Str., Stuttgart
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;
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
DOI :
10.1109/MHS.2007.4420863
