Cascade control of robotic fingers with anthropomorphic inspiration
This paper presents the design of cascade controller for robotic fingers designed based on an anthropomorphic inspiration. These fingers are driven by Pneumatic Artificial Muscle actuators. The high nonlinear dynamics of these actuators and the inherent hysteresis in their behavior lead to the...
| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
| Language: | English English |
| Published: |
IEEE
2016
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/61329/ http://irep.iium.edu.my/61329/ http://irep.iium.edu.my/61329/ http://irep.iium.edu.my/61329/1/61329-Cascade%20Control%20of%20Robotic%20Fingers.pdf http://irep.iium.edu.my/61329/2/61329-Cascade%20control%20of%20robotic%20fingers-SCOPUS.pdf |
| Summary: | This paper presents the design of cascade controller
for robotic fingers designed based on an anthropomorphic
inspiration. These fingers are driven by Pneumatic Artificial
Muscle actuators. The high nonlinear dynamics of these
actuators and the inherent hysteresis in their behavior lead to the
modelling and control problems that cause a lack of robustness in
the hand's performance. The actuator has been mathematically
modelled as a nonlinear second order system and the estimator of
the system uncertainty has been incorporated into adaptive
backstepping control law. The cascade controller is designed by
integrating the adaptive backstepping controller and PID
controller for position control of the robotic fingers. The
experiment results have proven that the proposed controller is
capable to compensate for the coulomb friction force which is the
system uncertainty and improves the position control of the
robotic fingers. In addition, the robotic fingers have introduced
an adaptive grasping for cylindrical-shaped objects with different
diameters. The robotic hand has imitated the human hand in
terms of size, weight and grasping. |
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