Title :
A hybrid-fuzzy controller design for the control of a flexible finger
Author :
Ryu, Jae Chun ; Park, Chong Kug
Author_Institution :
Dept. of Comput. Sci., Anyang T. Coll., South Korea
Abstract :
We discuss a flexible robotic finger design and controller, which is used for a micro flexible robotic finger. In this study, we use piezoelectric bimorph cells for the micro flexible robotic finger´s actuators. Another problem is controller design for more precise end point force control of the micro flexible finger. The controller adopted is the PD/PI mixed type fuzzy controller. The controller consists of two parts, one is a PD type fuzzy controller for increasing the rising time response, the other is a PI type fuzzy controller for decreasing the steady-state error
Keywords :
control system synthesis; flexible manipulators; force control; fuzzy control; microactuators; micromanipulators; piezoelectric actuators; two-term control; PD/PI mixed type fuzzy controller; end point force control; hybrid-fuzzy controller design; micro flexible robotic finger; piezoelectric bimorph cells; rising time response; steady-state error; Error correction; Fingers; Force control; Fuzzy control; PD control; Piezoelectric actuators; Robots; Steady-state; Time factors; Two-term control;
Conference_Titel :
SICE Annual, 1999. 38th Annual Conference Proceedings of the
Conference_Location :
Morioka
Print_ISBN :
4-907764-13-8
DOI :
10.1109/SICE.1999.788730
