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

Author

Komati, Bilal ; Rabenorosoa, Kanty ; Clevy, Cedric ; Lutz, Philippe

Author_Institution

AS2M Dept.- Autom. Control & MicroMechatronic Syst., UFC/ ENSMM/UTBM, Besancon, France

Volume

10

Issue

3

fYear

2013

fDate

Jul-13

Firstpage

515

Lastpage

524

Abstract

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.

Keywords

force control; grippers; mechanical stability; microassembling; micromanipulators; position control; automated guiding task; external hybrid force-position control strategy; flexible micropart; flexible object; grasp stability; guiding strategy; interaction forces; two-sensing-finger microgripper; Force; Force sensors; Friction; Grippers; Microassembly; Rails; Stability analysis; Automated task; compliant micropart; flexible micropart; gripping force; hybrid force/position control; lateral contact; microassembly; microgripper; microrobot control; microrobotics; two-sensing-finger;

fLanguage

English

Journal_Title

Automation Science and Engineering, IEEE Transactions on

Publisher

ieee

ISSN

1545-5955

Type

jour

DOI

10.1109/TASE.2013.2241761

Filename

6464529