초록
This paper dealt with the position control of a flexible miniature finger driven by piezoelectric bimorph cells, cemented on both side of the finger. Bending moments generated by cells drives the finger, and end-point of the finger is controlled, so as to move in synchrony with fluctation of target and maintain a constant distance between target surface and inger's tip. The voltage applied for the cell is controlled by tip displacement error and error rate. We proposed a PD-Fuzzy controller under conception of PD control strategy. It brought and advantage which reduce number of rules than that of same type conventional fuzzy system and more correct redponse than PID control results.
