Modeling and control of compact anthropomorphic robot finger

This paper presents the development of the mathematical model and controller of a light weight and small size robot finger. The finger possesses self adaptive grasping capability and is made of seven bar linkages with a slider or lead screw mechanism in the middle phalanx to adjust its effective le...

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Main Authors:	Zainul Azlan, Norsinnira, Yamaura, Hiroshi
Format:	Conference or Workshop Item
Language:	English
Published:	2011
Subjects:	TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://irep.iium.edu.my/47727/ http://irep.iium.edu.my/47727/ http://irep.iium.edu.my/47727/4/47727-article.pdf

id	iium-47727
recordtype	eprints
spelling	iium-477272016-03-22T01:32:12Z http://irep.iium.edu.my/47727/ Modeling and control of compact anthropomorphic robot finger Zainul Azlan, Norsinnira Yamaura, Hiroshi TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering This paper presents the development of the mathematical model and controller of a light weight and small size robot finger. The finger possesses self adaptive grasping capability and is made of seven bar linkages with a slider or lead screw mechanism in the middle phalanx to adjust its effective length in realizing both pinching and grasping tasks. The dynamic model of the linkages is integrated with the electrical motors mathematical description to represent the whole robotic system. Numerical simulations have been carried out to study the finger’s dynamic behaviour under the Proportional Integral Derivative (PID) control. 2011-06-26 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/47727/4/47727-article.pdf Zainul Azlan, Norsinnira and Yamaura, Hiroshi (2011) Modeling and control of compact anthropomorphic robot finger. In: International Conference on Modelling, Identification and Control, 26th-29th June, 2011, Shanghai, China. http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=5961157#
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering Zainul Azlan, Norsinnira Yamaura, Hiroshi Modeling and control of compact anthropomorphic robot finger
description	This paper presents the development of the mathematical model and controller of a light weight and small size robot finger. The finger possesses self adaptive grasping capability and is made of seven bar linkages with a slider or lead screw mechanism in the middle phalanx to adjust its effective length in realizing both pinching and grasping tasks. The dynamic model of the linkages is integrated with the electrical motors mathematical description to represent the whole robotic system. Numerical simulations have been carried out to study the finger’s dynamic behaviour under the Proportional Integral Derivative (PID) control.
format	Conference or Workshop Item
author	Zainul Azlan, Norsinnira Yamaura, Hiroshi
author_facet	Zainul Azlan, Norsinnira Yamaura, Hiroshi
author_sort	Zainul Azlan, Norsinnira
title	Modeling and control of compact anthropomorphic robot finger
title_short	Modeling and control of compact anthropomorphic robot finger
title_full	Modeling and control of compact anthropomorphic robot finger
title_fullStr	Modeling and control of compact anthropomorphic robot finger
title_full_unstemmed	Modeling and control of compact anthropomorphic robot finger
title_sort	modeling and control of compact anthropomorphic robot finger
publishDate	2011
url	http://irep.iium.edu.my/47727/ http://irep.iium.edu.my/47727/ http://irep.iium.edu.my/47727/4/47727-article.pdf
first_indexed	2023-09-18T21:07:53Z
last_indexed	2023-09-18T21:07:53Z
_version_	1777411055862939648

Modeling and control of compact anthropomorphic robot finger

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