Robust Microscale Grasping Using a Self Scheduled Dynamic Controller

Mokrane Boudaoud (1) , Marcelo Gaudenzi de Faria (2) , Yassine Haddab (2, 3) , Sinan Haliyo (1) , Yann Le Gorrec (2) , Philippe Lutz (2) , Stéphane Régnier (1)

1 ISIR - Institut des Systèmes Intelligents et de Robotique
2 FEMTO-ST - Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies (UMR 6174)
3 DEXTER - Robotique médicale et mécanismes parallèles

This paper deals with robust gripping force control at the microscale for a safe manipulation of deformable soft materials. Since mechanical properties of micrometer sized objects are uncertain, instability often occurs during a gripping task. In this article, the design of an output feedback self-scheduled dynamic controller is proposed considering parametric uncertainties of a set of 65 soft and resilient microspheres. The degrees of freedom of the controller are managed by the design of a set of elementary observers. Robustness with respect to parametric uncertainties is satis_ed thanks to an iterative procedure based on an eigenstructure assignment methodology and a worst case analysis. The developed controller is of low order and can be implemented in real time. Simulations demonstrate the validity of the proposed control approach.

Domaines: Algorithme et structure de données [cs.DS]; Automatique / Robotique

Mokrane Boudaoud, Marcelo Gaudenzi de Faria, Yassine Haddab, Sinan Haliyo, Yann Le Gorrec, et al.. Robust Microscale Grasping Using a Self Scheduled Dynamic Controller. 19th IFAC World Congress, Aug 2014, Cape Town, South Africa. ⟨10.3182/20140824-6-ZA-1003.00413⟩. ⟨hal-03221855⟩