Control of a gripper finger actuated by a pneumatic muscle: new schemes based on a model-free approach - Archive ouverte HAL Access content directly
Conference Papers Year : 2022

Control of a gripper finger actuated by a pneumatic muscle: new schemes based on a model-free approach

Abstract

In this paper, model-free based control strategies are applied to a finger of a gripper activated by Mckibben pneumatic muscles. In order to emulate the grasping phase of an object using a simple finger, a "hybrid" type model-free based control strategy is proposed to manage the effort control phase, and the object release phase. The strategy is divided into a phase of approach to the object with a speed control, then a phase of contact with the object for which a control of the effort is applied to maintain a controlled pressure on the object, and finally, a release phase for which the withdrawal of the object is controlled in position. An experimental setup is introduced to experiment with the control strategies on a single phalanx finger.

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Dates and versions

hal-03787446 , version 1 (26-09-2022)

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  • HAL Id : hal-03787446 , version 1

Cite

Pol Hamon, Loïc Michel, Franck Plestan, Damien Chablat. Control of a gripper finger actuated by a pneumatic muscle: new schemes based on a model-free approach. The 9th IFAC Symposium on Mechatronic Systems (Mechatronics 2022), Sep 2022, Los Angeles, United States. ⟨hal-03787446⟩
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