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

被引：5
|
作者：
Hamon, Pol [1 ,2 ]
Michel, Loic [1 ]
Plestan, Franck [1 ]
Chablat, Damien [1 ,3 ]
机构：
[1] Nantes Univ, Ecole Cent Nantes, CNRS, LS2N UMR 6004, F-44000 Nantes, France
[2] Armor Meca, ZI La Grignardais, F-22490 Pleslin Trigavou, France
[3] Tech Univ Cluj Napoca, Str Memorandumului 28, Cluj Napoca 400114, Romania
来源：
MECHATRONICS | 2023年 / 95卷
关键词：
Grasping system; Pneumatic muscle; Model-free control; ARTIFICIAL MUSCLE; PID CONTROL;
D O I：
10.1016/j.mechatronics.2023.103053
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
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页数：9
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