Position/Force Switching Control of a Miniature Gripper

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


This chapter presents the design and implementation of combined position and force control of a piezoelectrically actuated compliant gripper.


Contact Force Position Control Force Control Switching Control Contact Phase 
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.


  1. 1.
    Alkkiomaki, O., Kyrki, V., Kalviainen, H., Liu, Y., Handroos, H.: Smooth transition from motion to force control in robotic manipulation using vision. In: Proceeding 9th International Conference on Control, Automation, Robotics and Vision, pp. 1–6 (2006)Google Scholar
  2. 2.
    Beyeler, F., Neild, A., Oberti, S., Bell, D.J., Sun, Y., Dual, J., Nelson, B.J.: Monolithically fabricated microgripper with integrated force sensor for manipulating microobjects and biological cells aligned in an ultrasonic field. J. Microelectromech. Syst. 16(1), 7–15 (2007)CrossRefGoogle Scholar
  3. 3.
    Cao, Y., Cheng, L., Chen, X.B., Peng, J.Y.: An inversion-based model predictive control with an integral-of-error state variable for piezoelectric actuators. IEEE/ASME Trans. Mechatron. 18(3), 895–904 (2013)CrossRefGoogle Scholar
  4. 4.
    Capisani, L.M., Ferrara, A.: Trajectory planning and second-order sliding mode motion/interaction control for robot manipulators in unknown environments. IEEE Trans. Ind. Electron. 59(8), 3189–3198 (2012)CrossRefGoogle Scholar
  5. 5.
    Gao, B., Shao, J., Han, G., Sun, G., Yang, X., Wu, D.: Using fuzzy switching to achieve the smooth switching of force and position. Appl. Mech. Mater. 274, 638–641 (2013)CrossRefGoogle Scholar
  6. 6.
    Hara, S., Yamada, Y.: A control method switching from servo automatic transfer to force sensorless impedance control manual positioning. In: Proceeding IECON 2007—33rd Annual Conference of the IEEE Industrial Electronics Society, pp. 292–298 (2007)Google Scholar
  7. 7.
    Leang, K.K., Shan, Y., Song, S., Kim, K.J.: Integrated sensing for IPMC actuators using strain gages for underwater applications. IEEE/ASME Trans. Mechatron. 17(2), 345–355 (2012)CrossRefGoogle Scholar
  8. 8.
    Liaw, H.C., Shirinzadeh, B.: Robust adaptive constrained motion tracking control of piezo-actuated flexure-based mechanisms for micro/nano manipulation. IEEE Trans. Ind. Electron. 58(4), 1406–1415 (2011)CrossRefGoogle Scholar
  9. 9.
    Minase, J., Lu, T.F., Cazzolato, B., Grainger, S.: A review, supported by experimental results, of voltage, charge and capacitor insertion method for driving piezoelectric actuators. Precis. Eng. 34(10), 692–700 (2010)CrossRefGoogle Scholar
  10. 10.
    Motoi, N., Shimono, T., Kubo, R., Kawamura, A.: Task realization by a force-based variable compliance controller for flexible motion control systems. IEEE Trans. Ind. Electron. 61(2), 1009–1021 (2014)CrossRefGoogle Scholar
  11. 11.
    Navarro, C., Treesatayapun, C., Baltazar, A.: Determination of the instantaneous initial contact point on a parallel gripper using a multi input fuzzy rules emulated network controller with feedback from ultrasonic and force sensors. In: Batyrshin I., Gonzalez Mendoza M. (eds.) Advances in Artificial Intelligence, Lecture Notes in Computer Science, vol. 7629, pp. 261–272. Springer, Berlin (2013)Google Scholar
  12. 12.
    Niksefat, N., Wu, Q., Sepehri, N.: Stable control of an electro-hydraulic actuator during contact tasks: Theory and experiments. In: Proceeding of American Control Conference, pp. 4114–4118 (2000)Google Scholar
  13. 13.
    Rakotondrabe, M., Ivan, I.A.: Development and force/position control of a new hybrid thermo-piezoelectric microgripper dedicated to micromanipulation tasks. IEEE Trans. Automat. Sci. Eng. 8(4), 824–834 (2011)CrossRefGoogle Scholar
  14. 14.
    Reddy, A.N., Maheshwari, N., Sahu, D.K., Ananthasuresh, G.K.: Miniature compliant grippers with vision-based force sensing. IEEE Trans. Robot. 26(5), 867–877 (2010)CrossRefGoogle Scholar
  15. 15.
    Sakaino, S., Sato, T., Ohnishi, K.: Multi-DOF micro-macro bilateral controller using oblique coordinate control. IEEE Trans. Ind. Inform. 7(3), 446–454 (2011)CrossRefGoogle Scholar
  16. 16.
    Sakaino, S., Sato, T., Ohnishi, K.: Precise position/force hybrid control with modal mass decoupling and bilateral communication between different structures. IEEE Trans. Ind. Inform. 7(2), 266–276 (2011)CrossRefGoogle Scholar
  17. 17.
    Shimada, N., Yoshioka, T., Ohishi, K., Miyazaki, T.: Novel force-sensor-less contact motion control for quick and smooth industrial robot motion. In: Proc. IECON 2011 - 37th Annual Conf. on IEEE Industrial Electronics Society, pp. 4238–4243 (2011)Google Scholar
  18. 18.
    Takahashi, T., Tsuboi, T., Kishida, T., Kawanami, Y., Shimizu, S., Iribe, M., Fukushima, T., Fujita, M.: Adaptive grasping by multi fingered hand with tactile sensor based on robust force and position control. In: Proceeding International Conference on Robotics and Automation, pp. 264–271 (2008)Google Scholar
  19. 19.
    Wang, D.H., Yang, Q., Dong, H.M.: A monolithic compliant piezoelectric-driven microgripper: Design, modeling, and testing. IEEE/ASME Trans. Mechatron. 18(1), 138–147 (2013)CrossRefGoogle Scholar
  20. 20.
    Xu, Q.: Adaptive discrete-time sliding mode impedance control of a piezoelectric microgripper. IEEE Trans. Robot. 29(3), 663–673 (2013)CrossRefGoogle Scholar
  21. 21.
    Xu, Q.: New robust position and force regulation for a compliant microgripper. In: Proceeding 9th IEEE International Conference on Automation Science and Engineering, pp. 801–806 (2013)Google Scholar
  22. 22.
    Yong, Y.K., Moheimani, S.O.R., Kenton, B.J., Leang, K.K.: High-speed flexure-guided nanopositioning: Mechanical design and control issues. Rev. Sci. Instrum. 83(12), 121101 (2012)CrossRefGoogle Scholar
  23. 23.
    Zhou, Q., Korhonen, P., Laitinen, J., Sjovall, S.: Automatic dextrous microhandling based on a 6-DOF microgripper. J. Micromechatronics 3(3–4), 359–387 (2006)CrossRefGoogle Scholar

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

Personalised recommendations