Variable reluctance (VR) actuator has a simple and robust structure. VR actuator does not have a permanent magnet. It is low-cost, easy-to-manufacture, highly reliable, and can operate in hostile temperatures. However, it is inherently nonlinear, and it is difficult to operate as a proportional device. With the advancement of digital signal processing and power electronic drives in recent years, VR actuators have redrawn research interests. The paper describes the position and force control of a novel two-finger gripper using VR technology. Measurement and characterisation of the actuator is carried out. A novel motion and force control algorithm is implemented. The results show that the proposed actuator is suitable for high precision gripping applications.
|Number of pages||6|
|Journal||Conference Record - IAS Annual Meeting (IEEE Industry Applications Society)|
|Publication status||Published - 1 Jan 2001|
|Event||36th IAS Annual Meeting -Conference Record of the 2001 Industry Applications - Chicago, IL, United States|
Duration: 30 Sep 2001 → 4 Oct 2001
ASJC Scopus subject areas
- Electrical and Electronic Engineering