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

Bilal Komati (1) , Kanty Rabenorosoa (1) , Cédric Clévy (1) , Philippe Lutz (1)

1 FEMTO-ST - Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies (UMR 6174)

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.

Mots clés: gripping force; lateral contact; microrobot control; microrobotics.; Microassembly; automated task; microrobotics; hybrid force/position control; flexible micropart; complilant micropart; two-sensing-finger; microgripper

Domaines: Micro et nanotechnologies/Microélectronique

Bilal Komati, Kanty Rabenorosoa, Cédric Clévy, Philippe Lutz. Automated Guiding Task of a Flexible Micropart Using a Two-Sensing-Finger Microgripper.. IEEE Transactions on Automation Science and Engineering, 2013, 99, pp.1-11. ⟨10.1109/TASE.2013.2241761⟩. ⟨hal-00801938⟩