Robust Impedance Control of a Compliant Microgripper for High-Speed Position/Force Regulation

High-speed simultaneous position and contact force control is vital for microgrippers dedicated to automated high-throughput microassembly tasks. This paper presents the design and validation of a new robust impedance control for high-speed position and force regulation of a compliant gripper which is driven by a piezoelectric stack actuator. Unlike traditional position/force switching control, the proposed scheme enables a smooth transition...