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Intelligent Robotic Gripper with Adaptive Grasping Force
Shiuh-Jer Huang,Wei-Han Chang,Jui-Yiao Su 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.5
The on-off control robot gripper is widely employed in pick-and-place operations in Cartesian space forhandling hard objects between two positions. Without contact force monitoring, it can not be applied in fragile orsoft objects handling. Although, an appropriate grasping force or gripper opening for each target could be searchedby trial-and-error process, it needs expensive force/torque sensor or an accurate gripper position controller. It hastoo expensive and complex control strategy disadvantages for most of industrial applications. In addition, it cannot overcome the target slip problem due to mass uncertainty and dynamic factor. Here, an intelligent gripper isdesigned with embedded distributed control structure for overcoming the uncertainty of object’s mass and soft/hardfeatures. A communication signal is specified to integrate both robot arm and gripper control kernels for executingthe robotic position control and gripper force control functions in sequence. An efficient model-free intelligentfuzzy sliding mode control strategy is employed to design the position and force controllers of gripper, respectively. Experimental results of pick-and-place soft and hard objects with grasping force auto-tuning and anti-slip controlstrategy are shown by pictures to verify the dynamic performance of this distributed control system. The positionand force tracking errors are less than 1 mm and 0.1 N, respectively.
Tzu-Sung Wu,Mansour Karkoub,Chien-Ting Chen,Wen-Shyong Yu,Ming-Guo Her,Jui-Yiao Su 제어·로봇·시스템학회 2013 International Journal of Control, Automation, and Vol.11 No.6
It is proposed here to use a robust tracking design based on adaptive fuzzy control technique to control a class of multi-input-multi-output (MIMO) nonlinear systems with time delayed uncertainty in which each uncertainty is assumed to be bounded by an unknown gain. This technique will overcome modeling inaccuracies, such as drag and friction losses, effect of time delayed uncertainty, as well as parameter uncertainties. The proposed control law is based on indirect adaptive fuzzy control. A fuzzy model is used to approximate the dynamics of the nonlinear MIMO system; then, two on-line estimation schemes are developed to overcome the nonlinearities and identify the gains of the delayed state uncertainties, simultaneously. The advantage of employing an adaptive fuzzy system is the use of linear analytical results instead of estimating nonlinear system functions with an online update law. The adaptive fuzzy scheme uses a Variable Structure (VS) scheme to resolve the system uncertainties, time delayed uncertainty and the external disturbances such that H∞ tracking performance is achieved. The control laws are derived based on a Lyapunov criterion and the Riccati-inequality such that all states of the system are uniformly ultimately bounded (UUB). Therefore, the effect can be reduced to any prescribed level to achieve H∞ tracking performance. A two-connected inverted pendulums system on carts and a two-degree-of-freedom mass-spring-damper system are used to validate the performance of the proposed fuzzy technique for the control of MIMO nonlinear systems.