Force control of a flexible robotic finger with piezoelectric actuators using fuzzy algorithms

In this paper, a theoretical study is presented for the force control of a miniature robotic manipulator which is driven by a pair of piezoelectric unimorph cells. The main problems in force control are overshoot overdamping and unknown environment (e.g. the stiffness of object). So, the main idea is to use dynamic compensation for a known robotic plant and fuzzy compensation is introduced here for an unknown environment to improve the system performance. The fuzzy compensation is implemented by using a rule based fuzzy approach to identified the unknown environment.