Experimental studies of position control of linkage based robotic finger

The experimental study of position control of a light weight and small size robotic finger during non-contact motion is presented in this paper. The finger possesses fingertip pinching and self adaptive grasping capabilities, and is made of a seven bar linkage mechanism with a slider in the middle...

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Main Authors:	Zainul Azlan, Norsinnira, Yamaura, Hiroshi
Format:	Article
Language:	English
Published:	World Academy of Science, Engineering and Technology 2011
Subjects:	TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://irep.iium.edu.my/47729/ http://irep.iium.edu.my/47729/ http://irep.iium.edu.my/47729/1/experimental_studies_of_4.pdf

id	iium-47729
recordtype	eprints
spelling	iium-477292016-07-15T03:08:56Z http://irep.iium.edu.my/47729/ Experimental studies of position control of linkage based robotic finger Zainul Azlan, Norsinnira Yamaura, Hiroshi TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering The experimental study of position control of a light weight and small size robotic finger during non-contact motion is presented in this paper. The finger possesses fingertip pinching and self adaptive grasping capabilities, and is made of a seven bar linkage mechanism with a slider in the middle phalanx. The control system is tested under the Proportional Integral Derivative (PID) control algorithm and Recursive Least Square (RLS) based Feedback Error Learning (FEL) control scheme to overcome the uncertainties present in the plant. The experiments conducted in Matlab Simulink and xPC Target environments show that the overall control strategy is efficient in controlling the finger movement. World Academy of Science, Engineering and Technology 2011 Article PeerReviewed application/pdf en http://irep.iium.edu.my/47729/1/experimental_studies_of_4.pdf Zainul Azlan, Norsinnira and Yamaura, Hiroshi (2011) Experimental studies of position control of linkage based robotic finger. International Journal of Mechanical, Aerospace, Industrial, Mechatronic and Manufacturing Engineering, 5 (10). pp. 2017-2023. ISSN 2010-376X E-ISSN 2010-3778 http://waset.org/publications/3733/experimental-studies-of-position-control-of-linkage-based-robotic-finger
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 Experimental studies of position control of linkage based robotic finger
description	The experimental study of position control of a light weight and small size robotic finger during non-contact motion is presented in this paper. The finger possesses fingertip pinching and self adaptive grasping capabilities, and is made of a seven bar linkage mechanism with a slider in the middle phalanx. The control system is tested under the Proportional Integral Derivative (PID) control algorithm and Recursive Least Square (RLS) based Feedback Error Learning (FEL) control scheme to overcome the uncertainties present in the plant. The experiments conducted in Matlab Simulink and xPC Target environments show that the overall control strategy is efficient in controlling the finger movement.
format	Article
author	Zainul Azlan, Norsinnira Yamaura, Hiroshi
author_facet	Zainul Azlan, Norsinnira Yamaura, Hiroshi
author_sort	Zainul Azlan, Norsinnira
title	Experimental studies of position control of linkage based robotic finger
title_short	Experimental studies of position control of linkage based robotic finger
title_full	Experimental studies of position control of linkage based robotic finger
title_fullStr	Experimental studies of position control of linkage based robotic finger
title_full_unstemmed	Experimental studies of position control of linkage based robotic finger
title_sort	experimental studies of position control of linkage based robotic finger
publisher	World Academy of Science, Engineering and Technology
publishDate	2011
url	http://irep.iium.edu.my/47729/ http://irep.iium.edu.my/47729/ http://irep.iium.edu.my/47729/1/experimental_studies_of_4.pdf
first_indexed	2023-09-18T21:07:53Z
last_indexed	2023-09-18T21:07:53Z
_version_	1777411056008691712

Experimental studies of position control of linkage based robotic finger

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