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Adaptive Impedance Control of Piezoelectric Microgripper

  • Qingsong XuEmail author
  • Kok Kiong Tan
Chapter
Part of the Advances in Industrial Control book series (AIC)

Abstract

Delicate interaction control is a crucial issue for automated microsystems dedicated to micromanipulation of microobjects. This chapter presents a framework of digital sliding mode generalized impedance control with adaptive switching gain to regulating both the position and contact force of a piezoelectric-bimorph microgripper for micromanipulation and microassembly applications. Based on a second-order dynamics model, its implementation does not require a state observer and a hysteresis/creep model. The stability of the control system is proved in theory, which ensures the tracking performance in the presence of model uncertainties and disturbances. The effectiveness of the scheme is validated by experimental investigations on the grasp operation of a microgear.

Keywords

Contact Force Impedance Control Interaction Control Force Error Switching Gain 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  1. 1.Department of Electromechanical EngineeringUniversity of MacauMacauChina
  2. 2.Department of Electrical and Computer EngineeringNational University of SingaporeSingaporeSingapore

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