학술논문
Control of a servo-pneumatic gripper with individually movable jaws
Document Type
Conference
Author
Source
2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, 2006 IEEE. :802-806 Oct, 2006
Subject
Language
ISSN
2165-3011
2165-302X
2165-302X
Abstract
The paper describes the control of a servo-pneumatic gripper with individually movable jaws. After the description of the developed gripper, the position controller, which uses an observer to generate a velocity signal, is introduced. The observer is created and parameterized with the Simulation Tool DSHplus so that an easy creation and usage also for people with a miner comprehension of non-linear-pneumatic systems is guaranteed. At least some measurement results are shown. By means of the good positioning accuracy with a deviation smaller of 0.1 mm the operability and the capability of the presented controller system can be demonstrated.