Model-free based control of a gripper actuated by pneumatic muscles

In this article, a model-free based control strategy is applied to a gripper activated by Mckibben's pneumatic muscles. The gripper is composed of three fingers and is based on an original mechanical design to grip a large range of objects (by a weight, size, form, ... point-of-view). A model-free based control strategy is proposed to manage the force control phases. An experimental setup is introduced to experimentally test and validate the proposed control strategy using a very simple setup composed of a single force sensor, an embedded electronic board, and a single pressure proportional solenoid valve.

Mots clés

Grasping system pneumatic muscle model-free control

Domaines

Robotique [cs.RO]

Fichier principal

IFAC_Mechatronics_FINAL_2108.pdf (1.34 Mo)

IFAC_Mechatronics_FINAL_2108.blg (1.6 Ko)

IFAC_Mechatronics_FINAL_2108.out (3.72 Ko)

IFAC_Mechatronics_FINAL_2108.spl (0 B)

IFAC_Mechatronics_FINAL_2108.tcp (221 B)

IFAC_Mechatronics_FINAL_2108.tps (118 B)

elsarticle-template-num-names.spl (0 B)

figure/3d_pre_oeuf_photo.jpg (29.76 Ko)

figure/3d_pre_prism_photo.jpg (33.77 Ko)

figure/3d_pre_sphe_photo.jpg (35.52 Ko)

figure/CAOfingerSIIFAC_.JPG (47.12 Ko)

figure/Figure_oeuf.png (33.67 Ko)

figure/Figure_prismatique.png (34.41 Ko)

figure/Figure_spherique.png (33.75 Ko)

figure/control_phase-eps-converted-to.pdf (11.27 Ko)

figure/figure2_Pol.PNG (20.48 Ko)

figure/photocapteurSIIFAC.jpg (40.75 Ko)

figure/prehenseur_force_long_terme.png (66.07 Ko)

figure/prehenseur_force_short.png (136.87 Ko)

figure/protopourjournal.jpg (92.44 Ko)

figure/test_bench_ENG-eps-converted-to.pdf (561.02 Ko)

Origine	Fichiers produits par l'(les) auteur(s)

Damien Chablat : Connectez-vous pour contacter le contributeur

https://hal.science/hal-04458140

Soumis le : mercredi 14 février 2024-17:00:28

Dernière modification le : mardi 27 août 2024-12:56:20

Dates et versions

hal-04458140 , version 1 (14-02-2024)

Licence

Paternité - Pas d'utilisation commerciale

Identifiants

HAL Id : hal-04458140 , version 1
DOI : 10.1016/j.mechatronics.2023.103053

Citer

Pol Hamon, Loïc Michel, Franck Plestan, Damien Chablat. Model-free based control of a gripper actuated by pneumatic muscles. Mechatronics, 2023, 95, pp.103053. ⟨10.1016/j.mechatronics.2023.103053⟩. ⟨hal-04458140⟩

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