Slippage detection for grasping force control of robotic hand using force sensing resistors
This paper presents the formulation of a nonlinear adaptive backstepping force control in grasping weight-varying objects using robotic hand driven by Pneumatic Artificial Muscle (PAM). The modelling and control problems arise from the high nonlinear PAM dynamics and the inherent hysteresis leadi...
| Main Authors: | , , , |
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| Format: | Conference or Workshop Item |
| Language: | English English English |
| Published: |
Association for Computing Machinery
2019
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/76176/ http://irep.iium.edu.my/76176/ http://irep.iium.edu.my/76176/1/76176_Slippage%20detection%20for%20grasping%20force.pdf http://irep.iium.edu.my/76176/2/76176_Slippage%20detection%20for%20grasping%20force_SCOPUS.pdf http://irep.iium.edu.my/76176/13/76176_Slippage%20detection%20for%20grasping%20force_WOS.pdf |
| Summary: | This paper presents the formulation of a nonlinear adaptive backstepping force control in grasping weight-varying objects using
robotic hand driven by Pneumatic Artificial Muscle (PAM). The
modelling and control problems arise from the high nonlinear PAM
dynamics and the inherent hysteresis leading to a lack of robustness in the hand’s performance. The robotic finger and the PAM
actuator been mathematically modelled as a nonlinear second order
system based on an empirical approach. An adaptive backstepping
controller has been designed for force control of the pneumatic
hand. The estimator of the system uncertainty is incorporated into
the proposed control law and a slip detection strategy is introduced
to grasp objects with changing weights. The simulation and experimental results show that the robotic hand can maintain grasping
an object and stop further slippage when its weight is increased
up to 500 g by detecting the slip signal from the force sensor. The
results also have proven that the adaptive backstepping controller
is capable to compensate the uncertain coulomb friction force of
PAM actuator with maximum hysteresis error 0.18◦
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