Journal of the Korean Society for Precision Engineering (한국정밀공학회지)
- Volume 13 Issue 9
- /
- Pages.94-103
- /
- 1996
- /
- 1225-9071(pISSN)
- /
- 2287-8769(eISSN)
PID-Force Control of a Artificial Finger with Distributed Force Sensor and Piezoelectric Actuator
분포센서를 가진 인공지의 PID-힘 제어
- Lee, Jae-Jung ;
- Hong, Dong-Pyo ;
- Chung, Tae-Jin ;
- Chonan, SeijiChong, Kil-ToNo, Tae-Soo
- 이재정 (전북대학교 대학원) ;
- 홍동표 (전북대학교 정밀기계공학과) ;
- 정태진 (군산대학교 공과대학) ;
- 장남정이정길도노태수 (일본동북대학공학부전북대 제어계측공학과전북대 우주항공공학과)
- Published : 1996.09.01
Abstract
This paper is concerned with the theroretical 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 uniform flexible cantilever beam equipped with a distributed set of compact grasping force secnsors. Control action is applied by a qiexoceramic 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 which the finger is commanded to grasp an object The PID-controller is introduced to drive the finger. The usefulness of the proposed control technique is verified by simulation and experiment.
Keywords