DEvelopment of a soft-handling gripper driven by bimorph piezoactuators (2nd report, design of new controller for robust grasping performance)

摘要

This paper is a study on the hybrid force/position control of a two-fingered miniature pripper driven by piezoelectric bimorph cells. The system is composed of two flexible cantilevers and a compact force sensor attached to the tip of one finger. Control action is applied by two piezoelectric bimorph strips placed at the base of each finger. Both the classical PID control and the H_∞control algorithm are examined for the control problem in which the gripper is commanded to grasp an object with a time-constant force 0.01N at a prescribed fingertip position.