Force control of a flexible robotic finger with piezoelectric actuators using fuzzy algorithms

In this paper, a theoretical study is presented for the force control of a miniature robotic manipulator which is driven by a pair of piezoelectric unimorph cells. The main problems in force control are overshoot overdamping and unknown environment (e.g. the stiffness of object). So, the main idea i...

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Bibliographic Details
Main Authors: Jaechun Ryu, Chongkug Park
Format: Conference Proceeding
Language:English
Subjects:
Fingers
Force control
Force sensors
Fuzzy control
Fuzzy systems
Manipulators
Piezoelectric actuators
Robot kinematics
Solids
System performance
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Summary:In this paper, a theoretical study is presented for the force control of a miniature robotic manipulator which is driven by a pair of piezoelectric unimorph cells. The main problems in force control are overshoot overdamping and unknown environment (e.g. the stiffness of object). So, the main idea is to use dynamic compensation for a known robotic plant and fuzzy compensation is introduced here for an unknown environment to improve the system performance. The fuzzy compensation is implemented by using a rule based fuzzy approach to identified the unknown environment.
DOI:10.1109/SICE.1995.526647