PID control of a novel variable reluctance gripper

Chow Norbert Cheung, Kenneth Kin Chung Chan

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

1 Citation (Scopus)


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 languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Number of pages6
Publication statusPublished - 1 Dec 2001
Event27th Annual Conference of the IEEE Industrial Electronics Society IECON'2001 - Denver, CO, United States
Duration: 29 Nov 20012 Dec 2001


Conference27th Annual Conference of the IEEE Industrial Electronics Society IECON'2001
Country/TerritoryUnited States
CityDenver, CO


  • Gripper control
  • Variable reluctance motor

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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