Passivity-based control incorporating trajectory planning for a variable-reluctance finger gripper

J. M. Yang; X. Jin; J. Wu; Chow Norbert Cheung; K. K C Chan

doi:10.1243/095965104322892267

Passivity-based control incorporating trajectory planning for a variable-reluctance finger gripper

J. M. Yang, X. Jin, J. Wu, Chow Norbert Cheung, K. K C Chan

The Hong Kong Polytechnic University

Research output: Journal article publication › Journal article › Academic research › peer-review

10 Citations (Scopus)

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	https://doi.org/10.1243/095965104322892267
Publication status	Published - 1 Mar 2004

Keywords

Differential flatness
Finger gripper
Passivity-based control
Variable reluctance

ASJC Scopus subject areas

Control and Systems Engineering

More information

10.1243/095965104322892267

Cite this

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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.",

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Passivity-based control incorporating trajectory planning for a variable-reluctance finger gripper. / Yang, J. M.; Jin, X.; Wu, J. et al.
In: Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering, Vol. 218, No. 2, 01.03.2004, p. 99-109.

Research output: Journal article publication › Journal article › Academic research › peer-review

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AU - Cheung, Chow Norbert

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Passivity-based control incorporating trajectory planning for a variable-reluctance finger gripper

Abstract

Keywords

ASJC Scopus subject areas

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