PID control of a novel variable reluctance gripper

Chow Norbert Cheung; Kenneth Kin Chung Chan

PID control of a novel variable reluctance gripper

Chow Norbert Cheung, Kenneth Kin Chung Chan

The Hong Kong Polytechnic University

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

1 Citation (Scopus)

Abstract

Material handling and pick and place mechanisms are widely found in factory automation and industrial manufacturing. Mechanical grippers based on different motor technologies have been designed and employed numerous applications. However, variable reluctance (VR) technology is never explored. This is due to its inherent nonlinear control characteristics. The paper describes the motion control of a novel two-finger gripper using VR technology. A novel two-finger VR gripper is proposed and fabricated. A mathematical model of the actuator is constructed. A novel motion control strategy is proposed. Finally, the simulation and implementation of the VR gripper are carried out. Results show that the proposed actuator is an ideal solution for low-cost and high precision gripping applications.

Original language	English
Title of host publication	IECON Proceedings (Industrial Electronics Conference)
Pages	456-461
Number of pages	6
Publication status	Published - 1 Dec 2001
Event	27th Annual Conference of the IEEE Industrial Electronics Society IECON'2001 - Denver, CO, United States Duration: 29 Nov 2001 → 2 Dec 2001

Conference

Conference	27th Annual Conference of the IEEE Industrial Electronics Society IECON'2001
Country/Territory	United States
City	Denver, CO
Period	29/11/01 → 2/12/01

Keywords

Gripper control
Variable reluctance motor

ASJC Scopus subject areas

Electrical and Electronic Engineering

Cite this

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title = "PID control of a novel variable reluctance gripper",

abstract = "Material handling and pick and place mechanisms are widely found in factory automation and industrial manufacturing. Mechanical grippers based on different motor technologies have been designed and employed numerous applications. However, variable reluctance (VR) technology is never explored. This is due to its inherent nonlinear control characteristics. The paper describes the motion control of a novel two-finger gripper using VR technology. A novel two-finger VR gripper is proposed and fabricated. A mathematical model of the actuator is constructed. A novel motion control strategy is proposed. Finally, the simulation and implementation of the VR gripper are carried out. Results show that the proposed actuator is an ideal solution for low-cost and high precision gripping applications.",

keywords = "Gripper control, Variable reluctance motor",

author = "Cheung, {Chow Norbert} and Chan, {Kenneth Kin Chung}",

year = "2001",

month = dec,

day = "1",

language = "English",

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T1 - PID control of a novel variable reluctance gripper

AU - Cheung, Chow Norbert

AU - Chan, Kenneth Kin Chung

PY - 2001/12/1

Y1 - 2001/12/1

N2 - Material handling and pick and place mechanisms are widely found in factory automation and industrial manufacturing. Mechanical grippers based on different motor technologies have been designed and employed numerous applications. However, variable reluctance (VR) technology is never explored. This is due to its inherent nonlinear control characteristics. The paper describes the motion control of a novel two-finger gripper using VR technology. A novel two-finger VR gripper is proposed and fabricated. A mathematical model of the actuator is constructed. A novel motion control strategy is proposed. Finally, the simulation and implementation of the VR gripper are carried out. Results show that the proposed actuator is an ideal solution for low-cost and high precision gripping applications.

AB - Material handling and pick and place mechanisms are widely found in factory automation and industrial manufacturing. Mechanical grippers based on different motor technologies have been designed and employed numerous applications. However, variable reluctance (VR) technology is never explored. This is due to its inherent nonlinear control characteristics. The paper describes the motion control of a novel two-finger gripper using VR technology. A novel two-finger VR gripper is proposed and fabricated. A mathematical model of the actuator is constructed. A novel motion control strategy is proposed. Finally, the simulation and implementation of the VR gripper are carried out. Results show that the proposed actuator is an ideal solution for low-cost and high precision gripping applications.

KW - Gripper control

KW - Variable reluctance motor

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M3 - Conference article published in proceeding or book

SP - 456

EP - 461

BT - IECON Proceedings (Industrial Electronics Conference)

T2 - 27th Annual Conference of the IEEE Industrial Electronics Society IECON'2001

Y2 - 29 November 2001 through 2 December 2001

ER -

PID control of a novel variable reluctance gripper

Abstract

Conference

Keywords

ASJC Scopus subject areas

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