Automated Guiding Task of a Flexible Micropart Using a Two-Sensing-Finger Microgripper

作者：Komati Bilal^*; Rabenorosoa Kanty; Clevy Cedric; Lutz Philippe

来源：IEEE Transactions on Automation Science and Engineering, 2013, 10(3): 515-524.

DOI：10.1109/TASE.2013.2241761

• Automated task
• compliant micropart
• flexible micropart
• gripping force
• hybrid force/position control
• lateral contact
• microassembly
• microgripper
• microrobot control
• microrobotics
• two-sensing-finger

This paper studies automated tasks based on hybrid force/position control of a flexible object at the microscale. A guiding task of a flexible micropart is the case of the study and is achieved by a two-sensing-finger microgripper. An experimental model of the behavior of the microgripper is given and the interaction forces are studied. Based on grasp stability, a guiding strategy taking into account the pull off forces is proposed. A specific control strategy using an external hybrid force/position control and taking into account microscale specificities is proposed. The experimental results of automated guiding task are presented.

• 出版日期2013-7