한국생산제조학회지 (Journal of the Korean Society of Manufacturing Technology Engineers)

  • 제8권2호
  • /
  • Pages.44-49
  • /
  • 1999
  • /
  • 2508-5093(pISSN)
  • /
  • 2508-5107(eISSN)
한국생산제조학회 (The Korean Society of Manufacturing Technology Engineers)
권호 표지

PID 제어기에 의한 소형 로봇용 그리퍼의 힘 제어

PID Force Control of a miniature robot Gripper

  • 발행 : 1999.04.01
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초록

This paper is concerned with the theoretical and experimental study on the force conrtrol of a miniature robotic gripper. The gripper is an uniform flexible cantilever equipped with a distributed set of compact force sensor. As an actuator piezoelectric acturator, piezoelectric acturator is fixed with cupper plate at which the beam is clamped. The mathematical model of the assembled electro-mechaincal system is developed. The force sensor is described by a set of concentrated mass-spring system. The formulated equations of motion are applied to he study of a control problem where the gripper is commanded to grip an object The usefulness of the PID control technique is verified by experiment.

키워드

참고문헌

  1. IEEE Transactions on Robotics and Automation v.7 no.1 Manipulating and Grasping Forces in Manipulation by Multifingered Robot Hands Tsuneo Yoshikawa;Kiyoshi Nagai
  2. The International Journal of Robotics Research v.11 no.3 Tracking Control of a Miniture Flexible Arm Using Piezoelectric Bimorph Cells Z.W.Ziang;S. Chonan J.Tan
  3. Journal of Soundand Vibraton v.176 no.3 Modal Analysis of Stepped Beams with Piezoelectric Materials S.M.Yang;Y.J.Lee
  4. Journal of Sound and Vibration v.126 no.2 Performance of an Active Control System with Piezoelectric Actuators Baz A.;Poh S.
  5. Journal of Dynamic System, Measurement and Control v.115 no.4 Three Simple and Efficient Methods for Vibration Ccontrol Slewing Flexible Structures Liu, Y.C.;Yang, S.M.
  6. Journal of Dynamic System, Measurement and Control v.117 Multivariable Transfer Functions for a Slewing Piezoelectric Laminatied Beam H.R.Pota;T.E.Alberts
  7. Control System Digsign Using MATLAB Bahran Shahian;michael hassul
  8. 한국정밀공학회 v.13 no.9 분포센서를 가진 인공지의 PID-힘제어 이재정;유춘성;홍동표;정태진