Abstract
A novel two-finger gripper using variable-reluctance (VR) technology is investigated in this paper. Its non-linear characteristics are explored through theoretical analysis and experiments. Based on the experimental model, a passivity-based controller is designed. With energy modification and damping injection, the robustness to variable inductance is verified by simulations and experiments. Through the incorporation of passivity-based control (PBC) with differential flatness, trajectory planning is realized and ideal performance is achieved.
| Original language | English |
|---|---|
| Pages (from-to) | 99-109 |
| Number of pages | 11 |
| Journal | Proceedings of the Institution of Mechanical Engineers. Part I, Journal of systems and control engineering |
| Volume | 218 |
| Issue number | 2 |
| DOIs | |
| Publication status | Published - 2004 |
Keywords
- Finger gripper
- Variable reluctance
- Passivity-based control
- Differential flatness
ASJC Scopus subject areas
- Control and Systems Engineering
- Mechanical Engineering