Sliding Mode Impedance Controlled Smart Fingered Microgripper for Automated Grasp and Release Tasks at the Microscale | Zendy

Bilal Komati | Zendy; Cédric Clévy | Zendy; Philippe Lutz | Zendy

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Sliding Mode Impedance Controlled Smart Fingered Microgripper for Automated Grasp and Release Tasks at the Microscale

Author(s) -

Bilal Komati,

Cédric Clévy,

Philippe Lutz

Publication year - 2018

Publication title -

ifip advances in information and communication technology

Language(s) - English

Resource type - Book series

SCImago Journal Rank - 0.189

H-Index - 53

eISSN - 1868-422X

pISSN - 1868-4238

DOI - 10.1007/978-3-030-05931-6_18

Subject(s) - grasp , microscale chemistry , controller (irrigation) , inertia , impedance control , computer science , robotics , electrical impedance , engineering , control engineering , robot , artificial intelligence , simulation , control theory (sociology) , control (management) , electrical engineering , physics , mathematics , mathematics education , classical mechanics , agronomy , biology , programming language

The grasp and release of objects have been widely studied in robotics. At the microscale, this problem becomes more difficult due to the microscale specificities which are notably manifested by the high dynamics of microsystems, their small inertia, their fragility, the predominance of surface forces and the high complexity of integrating adapted sensors.

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