Design and Implementation of Gripper Controller

• Main Authors: Chien-En Peng, 彭千恩
• Other Authors: Ching-Chang Wong
• Format: Others
• Language: zh-TW
• Published: 2016
• Online Access: http://ndltd.ncl.edu.tw/handle/98091541288991073172

碩士 === 淡江大學 === 電機工程學系碩士在職專班 === 104 === In this thesis, a control method which can select a force control mode of the gripper is proposed to design and implement of a gripper system. In this system, an Arduino microprocessor is used as a main control platform in order to confirm whether the gripper tightly grips an object. According to a force control mode of gripper and a current value measured by a current sensor while gripping, a fuzzy controller is designed to decide a motor speed of the DC brush motor to grip objects. The principle is that a resistance will arise when the gripper touches an object and the current of motor will be changed. The proposed method uses the change of current to control the motor speed. From the experimental results, we can see that the proposed control method can effectively improve the opening and closing speed and the accuracy of the gripper.