FORCE CONTROL OF A FLEXIBLE ROBOTIC FINGER WITH PIEZOELECTRIC ACTUATORS USING FUZZY ALGORITHMS

摘要

In this paper, a theoretical study is presented for the force control of a miniature robotic manipulator which is driven by a pair of piezoelectric unimorph cells. The main problems in force controlling are overdam ping overshoot and unknown environment(ex. the stiffness of object).rnSo, the main idea is to use dynamic compensation for known robotic plant and fuzzy compensation is introduced here for unknown environment to impr ove system performance. The fuzzy compensation is implemented by using rule based fuzzy approach to ident i fied unknown environment.