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We develop a micro-gripper that actuated by piezoelectric cantilever for the need of micro parts assembly. The displacement-voltage relationship model is given in this paper. For hysteresis of piezoelectric ceramic, a control scheme based on fuzzy adaptive PID with a Modified Smith Predicator for the control of micro-gripper is proposed. The results of micro-assembly prove that the model is efficiency and feasibility. Keywords-piezoelectric cantilever modeling; micro gripper; modified Smith predictor; fuzzy adaptive PID

A Novel Piezoelectric Micro-gripper's Control Based on Modified Smith Predictor