전류제어시스템을 이용한 전동식 그리퍼의 제어방법

Abstract

This paper describes the control method of an electric gripper using a current control system. A current control system was designed and fabricated, and it consisted of a current sensor, an amplifier, and a precision voltage regulator. As a result of calibration by applying the current control system to the electric gripper, the error was less than ±0.34%. The proportional gain for the PI control of the gripper was 0.41, and the integral gain was 0.01. As a result of the control characteristics test, the arrival time was 0.79 s and the steady-state error was ±5 mV (±0.025 N). As a result of the experiment of holding the object, the gripper was able to hold the object safely. Therefore, the electric gripper applied using the current control system performed excellently in current control based on the reference force (grabbing force); thus, it is judged that it can be used to safely grip various objects in various fields.