Control of cooperative manipulators in holding deformable objects

This paper presents the implementation of a control system to control cooperative manipulators to hold deformable objects. The aim is to hold the deformable object without having information on the shape and stiffness of the deformable object beforehand. The prototype of a pair of manipulators has...

Full description

Bibliographic Details
Main Authors:	Alkathiri, A A, Zainul Azlan, Norsinnira
Format:	Conference or Workshop Item
Language:	English English
Published:	IOP Publishing 2017
Subjects:	TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://irep.iium.edu.my/62567/ http://irep.iium.edu.my/62567/ http://irep.iium.edu.my/62567/ http://irep.iium.edu.my/62567/7/62567-Control%20of%20cooperative%20manipulators%20in%20holding.pdf http://irep.iium.edu.my/62567/8/62567-Control%20of%20cooperative%20manipulators%20in%20holding%20deformable%20objects-SCOPUS.pdf

id	iium-62567
recordtype	eprints
spelling	iium-625672018-06-26T07:01:54Z http://irep.iium.edu.my/62567/ Control of cooperative manipulators in holding deformable objects Alkathiri, A A Zainul Azlan, Norsinnira TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering This paper presents the implementation of a control system to control cooperative manipulators to hold deformable objects. The aim is to hold the deformable object without having information on the shape and stiffness of the deformable object beforehand. The prototype of a pair of manipulators has been designed and built to test the controller. A force sensor and a rotary encoder are used to give feedback to the controller, which controls the DC motor actuators accordingly. A position proportional-integral-derivative (PID) controller technique has been applied for one of the manipulators and a PID force control technique is applied to the other. Simulations and experimental tests have been conducted on models and the controller has been implemented on the real plant. Both simulation and test results prove that the implemented control technique has successfully provided the desired position and force to hold the deformable object with maximum experimental errors of 0.34mm and 50mN respectively. IOP Publishing 2017-11-07 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/62567/7/62567-Control%20of%20cooperative%20manipulators%20in%20holding.pdf application/pdf en http://irep.iium.edu.my/62567/8/62567-Control%20of%20cooperative%20manipulators%20in%20holding%20deformable%20objects-SCOPUS.pdf Alkathiri, A A and Zainul Azlan, Norsinnira (2017) Control of cooperative manipulators in holding deformable objects. In: 6th International Conference on Mechatronics 2017 (ICOM'17), 8th-9th August 2017, Kuala Lumpur, Malaysia. http://iopscience.iop.org/article/10.1088/1757-899X/260/1/012010/pdf 10.1088/1757-899X/260/1/012010
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English 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 Alkathiri, A A Zainul Azlan, Norsinnira Control of cooperative manipulators in holding deformable objects
description	This paper presents the implementation of a control system to control cooperative manipulators to hold deformable objects. The aim is to hold the deformable object without having information on the shape and stiffness of the deformable object beforehand. The prototype of a pair of manipulators has been designed and built to test the controller. A force sensor and a rotary encoder are used to give feedback to the controller, which controls the DC motor actuators accordingly. A position proportional-integral-derivative (PID) controller technique has been applied for one of the manipulators and a PID force control technique is applied to the other. Simulations and experimental tests have been conducted on models and the controller has been implemented on the real plant. Both simulation and test results prove that the implemented control technique has successfully provided the desired position and force to hold the deformable object with maximum experimental errors of 0.34mm and 50mN respectively.
format	Conference or Workshop Item
author	Alkathiri, A A Zainul Azlan, Norsinnira
author_facet	Alkathiri, A A Zainul Azlan, Norsinnira
author_sort	Alkathiri, A A
title	Control of cooperative manipulators in holding deformable objects
title_short	Control of cooperative manipulators in holding deformable objects
title_full	Control of cooperative manipulators in holding deformable objects
title_fullStr	Control of cooperative manipulators in holding deformable objects
title_full_unstemmed	Control of cooperative manipulators in holding deformable objects
title_sort	control of cooperative manipulators in holding deformable objects
publisher	IOP Publishing
publishDate	2017
url	http://irep.iium.edu.my/62567/ http://irep.iium.edu.my/62567/ http://irep.iium.edu.my/62567/ http://irep.iium.edu.my/62567/7/62567-Control%20of%20cooperative%20manipulators%20in%20holding.pdf http://irep.iium.edu.my/62567/8/62567-Control%20of%20cooperative%20manipulators%20in%20holding%20deformable%20objects-SCOPUS.pdf
first_indexed	2023-09-18T21:28:40Z
last_indexed	2023-09-18T21:28:40Z
_version_	1777412363061821440

Control of cooperative manipulators in holding deformable objects

Similar Items