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Robust microscale grasping through a multimodel design: synthesis and real time implementation |
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| Affiliation: | 1. Institut des Systèmes Intelligents et de Robotique, Université Pierre et Marie Curie, CNRS UMR 7222, 4 Place Jussieu, F-75252 Paris Cedex, France;2. FEMTO-ST Institute, UMR CNRS 6174 - UFC-ENSMM-UTBM; Automatic Control and Micro-Mechatronic Systems (AS2M) Department; 24, rue Alain Savary, 25000 Besançon - France;1. Universidade Federal de Santa Catarina, Departamento de Automação e Sistemas, 88040-900 Florianópolis, SC, Brazil;2. Dpto. de Informática, Universidad de Almería - CIESOL, Campus de Excelencia Internacional Agroalimentario, ceiA3. Crta. Sacramento s/n, 04120 La Cañada, Spain;1. Grenoble INP, Gipsa-Lab (UMR5216), F-38400 Saint Martin d?Hères, France;2. Université de Lyon, INSA Lyon, Ampère (UMR5005), F-69621 Villeurbanne, France;1. University of Bayreuth, Mathematical Institute, Germany;2. Ruhr-University Bochum, Institute of Automation and Computer Control, Germany;1. Department of Mechanical and Aerospace Engineering, West Virginia University, Morgantown, WV 26506, USA;2. Department of Aerospace Engineering Embry-Riddle Aeronautical University, Daytona Beach, FL 32114, USA;1. Institute of Sound and Vibration Research, University of Southampton, Southampton SO17 1BJ, UK;2. Department of Automatic Control and Systems Engineering, University of Sheffield, Sheffield S1 3JD, UK |
| Abstract: | This paper deals with robust force control at the microscale for safe manipulation of deformable soft materials. Since mechanical properties of micrometer sized objects are highly uncertain, instability often occurs during a gripping task. This leads to object damage or destruction due to excessive gripping force. In this paper we propose the design of a robust dynamic output feedback controller that is able to insure desired performances for a set of 65 soft and resilient microspheres whose diameter ranges from 40 μm to 80 μm and stiffness varies from 2.8 N/m to 15.7 N/m. The degrees of freedom of the controller are managed by the use of a set of elementary observers. Robustness with respect to parametric uncertainties is satisfied thanks to an iterative procedure alternating between multimodel closed loop eigenstructure assignment and worst case analysis. The developed controller is of low order and can be implemented in real time. Robust gripping force control is for the first time demonstrated experimentally when dealing with the manipulation of a large number of variable deformable soft materials at the microscale. Both simulations and experimental results validate the interest of such control design approach. |
| Keywords: | Microelectromechanical systems Force feedback Robust control Eigenstructure assignment Grasping |
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