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Development of a soft-handling gripper driven by bimorph piezoactuators : 2nd report, design of new controller for robust grasping performance

Transactions of the Japan Society of Mechanical Engineers. C Volume 63 Issue 605 Page 150-157
published_at 1997-01
2010010172.pdf
[fulltext] 474 KB
Title
バイモルフ型圧電素子で駆動されるソフトハンドリング・グリッパ : 第2報, 把持動作制御用コントローラの設計
Development of a soft-handling gripper driven by bimorph piezoactuators : 2nd report, design of new controller for robust grasping performance
Creators Jiang Zhongwei
Creators Chonan Seiji
Creators Koseki Mituru
Creator Keywords
mechanism gripper piezoceramic bimorph force sensor minute force position control PID controller controller modified PID controller
This paper is a study on the hybrid force/position control of a two-fingered miniature gripper driven by piezoelectric bimorph cells. The system is composed of two flexible cantilevers and a compact force sensor attached to the tip of one finger. Control action is applied by two piezoelectric bimorph strips placed at the base of each finger. Both the classical PID control and the H_∞ control algorithm are examined for the control problem in which the gripper is commanded to grasp an object with a time-constant force 0.01 N at a prescribed fingertip position. Furthermore, a new PID controller based on the H_∞ theory is proposed and applied to the control of the gripper. It is found that the modified PID controller is simple and shows good robustness for controlling and driving the gripper.
Languages jpn
Resource Type journal article
Publishers 日本機械学会
Date Issued 1997-01
Rights
Copyright: 日本機械学会 (The Japan Society of Mechanical Engineers)()
File Version Version of Record
Access Rights open access
Relations
[ISSN]0387-5024
[NCID]AN00187463
[isVersionOf] [URI]http://www.jsme.or.jp/publish/ronbun/
Schools 大学院理工学研究科(工学)