Model-free based control of a gripper actuated by pneumatic muscles

• DOI: 10.1016/j.mechatronics.2023.103053
• Publication Date: 2023-08-25T22:38:48Z
• Authors: Pol Hamon; Loïc Michel; Franck Plestan; Damien Chablat
• Keywords: Pneumatic artificial muscles; Solenoid; Solenoid valve; Pneumatic flow control; Pressure Control; Pneumatic actuator

International audience<br/>In this article, a model-free based control strategy is applied to a gripper activated by Mckibben's pneumatic muscles. The gripper is composed of three fingers and is based on an original mechanical design to grip a large range of objects (by a weight, size, form, ... point-of-view). A model-free based control strategy is proposed to manage the force control phases. An experimental setup is introduced to experimentally test and validate the proposed control strategy using a very simple setup composed of a single force sensor, an embedded electronic board, and a single pressure proportional solenoid valve.<br/>