This paper is concerned with the theoretical and experimental study of the force control of a miniatrure robotic finger that grasps an object at portions other than the fingertips. The artificial finger is a uniform flexible cantilever equipped with a distributed set of compact grasping force sensors. Control action is applied by a piezoceramic bimorph strip place at the base of the finger. The mathematical model of the assembled electro-mechanical system is developed. The distributed season are described by a set of concentrated mass-spring systems. The formulated equations of motion are applied to the study of control problem where the finger is commanded to grasp its object with a time-constant force 003 N regardless of the contact position of the finger with the object. Both the PID and H∞ regulators are tested and their control behaviours are compared with each other.
|Number of pages||6|
|Journal||Journal of Intelligent Material Systems and Structures|
|Publication status||Published - 1996 May|
ASJC Scopus subject areas
- Materials Science(all)
- Mechanical Engineering