Hybrid force/position control applied to automated guiding tasks at the microscale

K Rabenorosoa, C Clevy, P Lutz
2010 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Force feedback control constitutes a promising solution for achieving fully automated micro-assembly. In this paper, we report the study of force feedback control used during guiding task. An experimental setup with two sensorized fingers is proposed. It enables to grasp a micropart of 2 mm x 50 µm x 50 µm in size and to estimate the lateral contact force. A simulator is developed to take into account the gripping forces evolution during a lateral perturbation. External hybrid force/position
more » ... d force/position control is chosen for performing automated guiding tasks. Experimental results demonstrate the ability of the implemented controller and suitable design of microsystems.
doi:10.1109/iros.2010.5649216 dblp:conf/iros/RabenorosoaCL10 fatcat:h7asjnkzdrgt5mp6uyfhgp6oeu