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• W2461802017 abstract "Delicate interaction control is a crucial issue for automated microsystems dedicated to micromanipulation of microobjects. This chapter presents a framework of digital sliding mode generalized impedance control with adaptive switching gain to regulating both the position and contact force of a piezoelectric-bimorph microgripper for micromanipulation and microassembly applications. Based on a second-order dynamics model, its implementation does not require a state observer and a hysteresis/creep model. The stability of the control system is proved in theory, which ensures the tracking performance in the presence of model uncertainties and disturbances. The effectiveness of the scheme is validated by experimental investigations on the grasp operation of a microgear." @default.
• W2461802017 created "2016-07-22" @default.
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• W2461802017 date "2015-08-29" @default.
• W2461802017 modified "2023-09-28" @default.
• W2461802017 title "Adaptive Impedance Control of Piezoelectric Microgripper" @default.
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• W2461802017 doi "https://doi.org/10.1007/978-3-319-21623-2_10" @default.
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