한국지능시스템학회논문지 (Journal of the Korean Institute of Intelligent Systems)

  • 제7권5호
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  • Pages.67-76
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  • 1997
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  • 1976-9172(pISSN)
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  • 2288-2324(eISSN)
한국지능시스템학회 (Korean Institute of Intelligent Systems)
권호 표지

퍼지제어를 이용한 마이크로 로보트 핑거의 힘제어

Force Control of Micro Robotic Finger Using Fuzzy Controller

  • 발행 : 1997.12.01
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초록

In this paper, a theoretical study is presented for the force control of a miniature robotic manipulator which is driven by a pair of piezo-electric bimorph cells. In the theoretical analysis, one finger is modeled as a flexible cantilevers with a force sensor at the tip and the finger is a solid beam. The robotic finger is used to hold the objects with different stiffness such as an iron block and a living insect and a moving objcet. So it is very important to develop an adequate controller for the holding operation of the finger. The main problems in force controlling are overdamping, overshoot and unknown environment(such as the stiffness of object and unknown plant parameters). So, the main target is propose the new fuzzy compensation for unknown environment and incease the system performance. The fuzzy compensation is implemented by using PI-type fuzzy approach to identified unknown environment. And the result of proposed controller was compared with the conventaional PID and optimal controller.

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참고문헌

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