抄録
This paper describes force control of a robot gripper with piezoelectric actuators by using the self-sensing actuation. Two degree-of-freedom control system consists of feedforward and feedback controller. An inverse system as the feedforward controller is derived from an identified model in the frequency domain. On the other hand, feedback controller based on Lyapunov's direct method realizes the self-sensing signal from electric bridge circuit. This signal equivalent to the variation of the tip-slope of the actuator. Numerical simulation and experimental results show the effectiveness of the proposed control system.
