제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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FUZZY POSITION/FORCE CONTROL OF MINIATURE GRIPPER DRVEN BY PIEZOELECTRIC BIMORPH ACTUATOR

  • Kim, Young-Chul (Department of Mechatronics and Precision Engineering, Tohoku University) ;
  • Chonan, Seiji (Department of Mechatronics and Precision Engineering, Tohoku University) ;
  • Jiang, Zhongwei (Department of Mechatronics and Precision Engineering, Tohoku University)
  • Published : 1996.10.01
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Abstract

This paper is a study on the fuzzy force control of a miniature gripper driven by piezoelectric bimorph actuator. The system is composed of two flexible cantilevers, a stepping motor, a laser displacement transducer and two semiconductor force sensors attached to the beams. Obtained results show that the present artificial finger system works well as a miniature gripper, which produces approximately 0.06N force in the maximum. Further, the fuzzy position/force control algorithm is applied to the soft-handing gripper for stable grasping of a object. It revealed that the fuzzy rule-based controller be efficient controller for the stable drive of the flexible miniature gripper. It also showed that two semiconductor strain gauges located in the flexible beam play an important roles for force control, position control and vibration suppression control.

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