Design and implementation of the electric gripper control system based on the DSP

A kind of electric gripper control system is introduced in this paper. The control system is based on three closed loops structure without a pressure sensor. The DSP and brushless DC motor are used as its control core and power component. The traditional PID control algorithm is used to design the current controller, speed controller and position/force controller. A current comparison method is considered to solve the problem of switching between the position and force work status. The PC control software of the electric gripper is developed with Labview. The experimental results show the effectiveness of the electric gripper control system.