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 https://doi.org/10.1177/095965180421800204
Publication status	Published - 1 Mar 2004

Keywords

Differential flatness
Finger gripper
Passivity-based control
Variable reluctance

ASJC Scopus subject areas

Control and Systems Engineering
Mechanical Engineering

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Cite this

Yang, J. M., Jin, X., Wu, J., Cheung, C. N., & Chan, K. K. C. (2004). Passivity-based control incorporating trajectory planning for a variable-reluctance finger gripper. Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering, 218(2), 99-109. https://doi.org/10.1243/095965104322892267, https://doi.org/10.1177/095965180421800204

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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.",

keywords = "Differential flatness, Finger gripper, Passivity-based control, Variable reluctance",

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Yang, JM, Jin, X, Wu, J, Cheung, CN & Chan, KKC 2004, 'Passivity-based control incorporating trajectory planning for a variable-reluctance finger gripper', Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering, vol. 218, no. 2, pp. 99-109. https://doi.org/10.1243/095965104322892267, https://doi.org/10.1177/095965180421800204

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

TY - JOUR

T1 - Passivity-based control incorporating trajectory planning for a variable-reluctance finger gripper

AU - Yang, J. M.

AU - Jin, X.

AU - Wu, J.

AU - Cheung, Chow Norbert

AU - Chan, K. K C

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N2 - 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.

AB - 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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KW - Finger gripper

KW - Passivity-based control

KW - Variable reluctance

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DO - 10.1243/095965104322892267

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JO - Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering

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IS - 2

ER -

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

Abstract

Keywords

ASJC Scopus subject areas

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