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Grasping impact force control of a flexible robotic gripper using a piezoelectric actuator

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Abstract

This paper presents robust force tracking control of a flexible beam during a grasping operation using a piezoceramic actuator. Equations describing the motion of the gripper in conditions of contact and noncontact are derived based on the cantilever beam. In this study, contact force is regulated, in addition to the impact force generated at the instant of contact, based on variable structure model reference adaptive control theory using only force measurements. For the derivation of the control law, it is assumed that parameters of the beam and the stiffness of the object are unknown. Computer simulations show the effectiveness the controller.

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Authors and Affiliations

  1. Department of Mechanical Engineering, University of Nevada, Las Vegas, 4505 Maryland Parkway, 89154-4027, Las Vegas, NV, USA

    Woosoon Yim & William R. Wells

Authors
  1. Woosoon Yim
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  2. William R. Wells
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Correspondence to Woosoon Yim.

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Cite this article

Yim, W., Wells, W.R. Grasping impact force control of a flexible robotic gripper using a piezoelectric actuator. Artif Life Robotics 4, 3–6 (2000). https://doi.org/10.1007/BF02481468

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  • DOI: https://doi.org/10.1007/BF02481468

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