Force control of micro robotic finger using fuzzy controllor

In this paper, a theoretical study is prese nted for the force control of a miniature robotic manipulator which is driven by a pair of piezoelectric unimorph cells. The robotic finger is used to hold the objects. So, it is very important to develop an ade quate controller for the holding operation of the finger. The main idea for control is to use Feed/Forword control for known robot plant and fuzzy compensation for unknown environment. The fuzzy compensation is implemented by using PD type fuzzy appr oach to identified unknown environment.