Abstract. In order to improve the steady output of micrgripper, the giant magnetostrictive micrgripper with flexure hinge is taken as the research object . Its structure and working principle are presented .the static performance experiments are done and the better linear work domain is found. On the basis of that the dynamic model of the microgripper is established and the formula of the micro...

This paper presents a new architecture of control for micro-teleoperation system using a fault tolerant control (FTC) strategy to compensate for the degradation effects of piezoelectric-based microgipping system. The proposed strategy uses passivity approach for the bilateral controller and robust fault tolerant control (FTC) for the two-fingered microgripper system. First, the bilateral contro...