Control of a servo-pneumatic gripper with individually movable jaws

The paper describes the control of a servo-pneumatic gripper with individually movable jaws. After the description of the developed gripper, the position controller, which uses an observer to generate a velocity signal, is introduced. The observer is created and parameterized with the Simulation Tool DSHplus so that an easy creation and usage also for people with a miner comprehension of non-linear-pneumatic systems is guaranteed. At least some measurement results are shown. By means of the good positioning accuracy with a deviation smaller of 0.1 mm the operability and the capability of the presented controller system can be demonstrated.