Position/Force Control with Direct Voltage Limitation for a Robotic Gripper with DC Motor

Precision position and force control are critical issues for automated systems to handle objects delicately. This paper examines the dual control strategies of position and force in robotic grippers, emphasizing their importance for precise manipulation. The limitations of the common switching control and of the hybrid control based on velocity-voltage analogy are highlighted, prompting the proposal of a novel alternative control strategy that directly limits the applied voltage. This strategy aims to enhance compliance and responsiveness in real-time applications, ultimately improving the versatility and efficiency of robotic systems across diverse fields such as manufacturing and healthcare.