Journal of KSNVE (소음진동)

The Korean Society for Noise and Vibration Engineering (한국소음진동공학회)
권호 표지

$H{\infty}$-force control of a artificial finger with distributed force sensor and piezoelectric actuator

분포센서를 가진 인공지의 $H{\infty}$-힘제어

  • 이재정 (전북대학교 대학원) ;
  • 유춘성 (전북대학교 대학원) ;
  • 홍동표 (전북대학교 공과대학 정밀기계공학과) ;
  • 정태진 (군산대학교 공과대학 기계공학과) ;
  • ;
  • 정길도 (전북대학교 공과대학 제어계측 공학과) ;
  • 노태수 (전북대학교 공과대학 우주항공공학과)
  • Published : 1996.10.01
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Abstract

This paper is concerned with the theoretical and experimental study on the force control of a miniature robotic finger that grasps an object at three other positions with the fingertip. The artificial finger is a uniform flexible cantilever beam equipped with a distributed set of compact grasping force sensors. Control action is applied by a piezoceramic bimorph strip placed at the base of the finger. The mathematical model of the assembled electro- mechanical system is developed. The distributed sensors are described by a set of concentrated mass-spring system. The formulated equations of motion are then applied to a control problem in which the finger is commanded to grasp an object. The H$_{\infty}$-controller is introduced to drive the finger. The usefulness of the proposed control technique is verified by simulation and experiment..

Keywords

References

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