Please use this identifier to cite or link to this item: http://hdl.handle.net/10397/30578
Title: Passivity-based control incorporating trajectory planning for a variable-reluctance finger gripper
Authors: Yang, JM
Jin, X
Wu, J
Cheung, NC 
Chan, KKC
Keywords: Finger gripper
Variable reluctance
Passivity-based control
Differential flatness
Issue Date: 2004
Publisher: SAGE Publications
Source: Proceedings of the Institution of Mechanical Engineers. Part I, Journal of systems and control engineering, 2004, v. 218, no. 2, p. 99-109 How to cite?
Journal: Proceedings of the Institution of Mechanical Engineers. Part I, Journal of systems and control engineering 
Abstract: A novel two-finger gripper using variable-reluctance (VR) technology is investigated in this paper. Its non-linear characteristics are explored through theoretical analysis and experiments. Based on the experimental model, a passivity-based controller is designed. With energy modification and damping injection, the robustness to variable inductance is verified by simulations and experiments. Through the incorporation of passivity-based control (PBC) with differential flatness, trajectory planning is realized and ideal performance is achieved.
URI: http://hdl.handle.net/10397/30578
ISSN: 0959-6518
EISSN: 2041-3041
DOI: 10.1177/095965180421800204
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