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...
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IEEE
2016
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| 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 |
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iium-613292018-06-26T03:41:45Z http://irep.iium.edu.my/61329/ Cascade control of robotic fingers with anthropomorphic inspiration Farag, Mohannad Zainul Azlan, Norsinnira Ahmad, Salmiah T Technology (General) 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. IEEE 2016 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/61329/1/61329-Cascade%20Control%20of%20Robotic%20Fingers.pdf application/pdf en http://irep.iium.edu.my/61329/2/61329-Cascade%20control%20of%20robotic%20fingers-SCOPUS.pdf Farag, Mohannad and Zainul Azlan, Norsinnira and Ahmad, Salmiah (2016) Cascade control of robotic fingers with anthropomorphic inspiration. In: 2016 IEEE International Conference on Automatic Control and Intelligent Systems (I2CACIS), 22nd October 2016, Selangor, Malaysia. http://ieeexplore.ieee.org/document/7885309/ 10.1109/I2CACIS.2016.7885309 |
| repository_type |
Digital Repository |
| institution_category |
Local University |
| institution |
International Islamic University Malaysia |
| building |
IIUM Repository |
| collection |
Online Access |
| language |
English English |
| topic |
T Technology (General) |
| spellingShingle |
T Technology (General) Farag, Mohannad Zainul Azlan, Norsinnira Ahmad, Salmiah Cascade control of robotic fingers with anthropomorphic inspiration |
| description |
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. |
| format |
Conference or Workshop Item |
| author |
Farag, Mohannad Zainul Azlan, Norsinnira Ahmad, Salmiah |
| author_facet |
Farag, Mohannad Zainul Azlan, Norsinnira Ahmad, Salmiah |
| author_sort |
Farag, Mohannad |
| title |
Cascade control of robotic fingers with anthropomorphic inspiration |
| title_short |
Cascade control of robotic fingers with anthropomorphic inspiration |
| title_full |
Cascade control of robotic fingers with anthropomorphic inspiration |
| title_fullStr |
Cascade control of robotic fingers with anthropomorphic inspiration |
| title_full_unstemmed |
Cascade control of robotic fingers with anthropomorphic inspiration |
| title_sort |
cascade control of robotic fingers with anthropomorphic inspiration |
| publisher |
IEEE |
| publishDate |
2016 |
| url |
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 |
| first_indexed |
2023-09-18T21:26:59Z |
| last_indexed |
2023-09-18T21:26:59Z |
| _version_ |
1777412257354874880 |