Park, J Kim, S Kim, DH Kim, B Kwon, SJ Park, JO Lee, KI 2024-01-21T04:11:55Z 2024-01-21T04:11:55Z 2021-09-03 2005-10 1083-4435 https://pubs.kist.re.kr/handle/201004/136086 This paper presents the design and control of a sensorized microgripper using a voice coil motor and a flexure mechanism. To increase the gripping sensitivity, shape design and determination of sensor attachment position are performed using finite element analysis. Empirical models of the microgripper are acquired for the design of position control and gripping force control. By using the identified models, both the perfect tracking controller for position control and the adaptive zero-phase error tracking controller for force control are implemented. The effectiveness of the proposed model-based control methods is verified by experimental studies. English IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC SYSTEMS Identification and control of a sensorized microgripper for micromanipulation Article 10.1109/TMECH.2005.856103 1 IEEE-ASME TRANSACTIONS ON MECHATRONICS, v.10, no.5, pp.601 - 606 IEEE-ASME TRANSACTIONS ON MECHATRONICS 10 5 601 606 scie scopus 000233049100014 2-s2.0-28044450618 Automation & Control Systems Engineering, Manufacturing Engineering, Electrical & Electronic Engineering, Mechanical Automation & Control Systems Engineering Article SYSTEMS adaptive zero-phase error tracking controller force control microgripper micromanipulation strain gauge sensors