Sensing microgripper with PID control

This paper presents a novel sensing microgripper based on silicon-polymer electrothermal actuators and piezoresistive force sensing cantilever beams which can be controlled by a PID controller to monitor the displacement of the microgripper jaws and also the contact force between the tips and the gr...

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Bibliographic Details
Main Authors: Phan Huu, P., Nguyen, V.Q., Chu Duc, T., Sarro, P.M.
Format: Conference Proceeding
Language:English
Subjects:
Actuators
Control systems
Displacement control
Electrothermal effects
Grippers
Monitoring
Piezoresistance
Silicon
Structural beams
Three-term control
Online Access:Request full text
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Description
Summary:This paper presents a novel sensing microgripper based on silicon-polymer electrothermal actuators and piezoresistive force sensing cantilever beams which can be controlled by a PID controller to monitor the displacement of the microgripper jaws and also the contact force between the tips and the grabbed object.
ISSN:2162-1020
2162-1039
DOI:10.1109/ATC.2008.4760586