한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)
- 제14권1호
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- Pages.174-184
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- 1997
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- 1225-9071(pISSN)
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- 2287-8769(eISSN)
압전 세라믹 작동기로 구성된 스마트 유연 그리퍼의 힘 추적 제어
Force Tracking Control of a Smart Flexible Gripper Featuring Piezoceramic Actuators
- 최승복 (인하대학교 기계공학과) ;
- 정재천 (인하대학교 기계공학과) ;
- 이철희 (현대자동차(주))
- Choi, Seung-Bok ;
- Cheong, Chae-Cheon ;
- Lee, Chul-Hee
- 발행 : 1997.01.01
초록
This paper presents a robust force tracking control of a smart flexible gripper featured by a piezoceramic actuator characterizing its durability and quick response time. A mathematical governing equation for the proposed gripper structure is derived by employing Hamilton's principle and a state space control model is subsequently obtained through model analysis. Uncertain system parameters such as frequency variation are included in the control model. A sliding mode control theory which has inherent robustness to the sys- tem uncertainties is adopted to design a force tracking controller for the piezoceramic actuator. Using out- put information from the tip force sensor, a full-order observer is constructed to estimate state variables of the system. Force tracking performances for desired trajectories represented by sinusoidal and step func- tions are evaluated by undertaking both simulation and experimental works. In addition, in order to illustrate practical feasibility of the proposed method, a two-fingered gripper is constructed and its performance is demonstrated by showing a capability of holding an object.
키워드