Simplified Internal Model Control and its Applications to Sensorless Grasping Control

Abstract

A simplified IMC scheme is proposed in this paper. By using an inverse system or an approximate inverse system for the IMC structure, the order of the controller leads the high order, meanwhile the high order controller is not practical in implementation. This paper is concerned with the problem of reducing a high order controller to a reduced order one. The disturbance estimation property of the closed loop system is also discussed. The proposed procedure is applied to prototype robotic hand that can hold an object with suitable grasping force without force sensor. The effectiveness of the proposed controller scheme is confirmed by experiments.