The gripping force control has been studied to increase the industrial robot flexibility. Gripping force must be adequately adjusted to manipulate the versatile workpieces-different geometry and different materials.
But there are problems in application to real system. The problems are reliability of mechanism, reliability of function and economical estimation.
So, in this thesis, to solve these problems, the force control system is designed to use pneumatic power and on-off controller.
On-off controllers used in this thesis are conventional on-off controller, on-off controller with derivative action and modified on-off controller.
By using these controllers, the gripping characteristics (minimum stable deadband and maximum overshoot) are experimentally analysed for various design parameters which are as follows, area of orfice in each side of actuating cylinder, size of workpiece, and each controller parameters.