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

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4 Author(s)
Bilal Komati ; AS2M Department – Automatic Control and Micro-Mechatronic Systems, FEMTO-ST Institute, UMR CNRS 6174 – UFC/ENSMM/UTBM, Besancon, France ; Kanty Rabenorosoa ; Cédric Clévy ; Philippe Lutz

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.

Published in:

IEEE Transactions on Automation Science and Engineering  (Volume:10 ,  Issue: 3 )