Master-slave force control based on grey GM(1,1) model of robot gripper

Abstract

This paper describes the position and force control of a novel two-finger gripper using force control technology, a master-slave force control strategy is deveoped for making the force track the desired force quickly with lower overshoot. PID controller is adapted to the position system for the master finger, and force control is used to the slave finger with grey GM(1,1) model, the prediction models are built by the signal of force acquired from sensors, the force controller enforces a relationship between the position of each finger and the force on the manipulated objects, and the weights of the current and the future force errors are automatic adjusted in integrated error according to the model precision. The force controllers can employ the information of past, present and future force to calculate an appropriate control correction to pre-compensate the force errors, thus it can obtain lower overshoot and faster response. Simulation results are presented to demonstrate the efficacy of the proposed master-slave force controllers.