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...

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Main Authors:	Farag, Mohannad, Zainul Azlan, Norsinnira, Alsibai, Mohammed Hayyan, Abd Ghafar, Abdul Nasir
Format:	Conference or Workshop Item
Language:	English English English
Published:	Association for Computing Machinery 2019
Subjects:	TJ Mechanical engineering and machinery
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

id	iium-76176
recordtype	eprints
spelling	iium-761762019-12-10T07:52:48Z http://irep.iium.edu.my/76176/ Slippage detection for grasping force control of robotic hand using force sensing resistors Farag, Mohannad Zainul Azlan, Norsinnira Alsibai, Mohammed Hayyan Abd Ghafar, Abdul Nasir TJ Mechanical engineering and machinery 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◦ . Association for Computing Machinery 2019 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/76176/1/76176_Slippage%20detection%20for%20grasping%20force.pdf application/pdf en http://irep.iium.edu.my/76176/2/76176_Slippage%20detection%20for%20grasping%20force_SCOPUS.pdf application/pdf en http://irep.iium.edu.my/76176/13/76176_Slippage%20detection%20for%20grasping%20force_WOS.pdf Farag, Mohannad and Zainul Azlan, Norsinnira and Alsibai, Mohammed Hayyan and Abd Ghafar, Abdul Nasir (2019) Slippage detection for grasping force control of robotic hand using force sensing resistors. In: 5th International Conference on Computer and Technology Applications, ICCTA 2019, 16th-17th April 2019, Istanbul, Turkey. 10.1145/3323933.3324077
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English English English
topic	TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery Farag, Mohannad Zainul Azlan, Norsinnira Alsibai, Mohammed Hayyan Abd Ghafar, Abdul Nasir Slippage detection for grasping force control of robotic hand using force sensing resistors
description	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◦ .
format	Conference or Workshop Item
author	Farag, Mohannad Zainul Azlan, Norsinnira Alsibai, Mohammed Hayyan Abd Ghafar, Abdul Nasir
author_facet	Farag, Mohannad Zainul Azlan, Norsinnira Alsibai, Mohammed Hayyan Abd Ghafar, Abdul Nasir
author_sort	Farag, Mohannad
title	Slippage detection for grasping force control of robotic hand using force sensing resistors
title_short	Slippage detection for grasping force control of robotic hand using force sensing resistors
title_full	Slippage detection for grasping force control of robotic hand using force sensing resistors
title_fullStr	Slippage detection for grasping force control of robotic hand using force sensing resistors
title_full_unstemmed	Slippage detection for grasping force control of robotic hand using force sensing resistors
title_sort	slippage detection for grasping force control of robotic hand using force sensing resistors
publisher	Association for Computing Machinery
publishDate	2019
url	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
first_indexed	2023-09-18T21:47:41Z
last_indexed	2023-09-18T21:47:41Z
_version_	1777413559394762752

Slippage detection for grasping force control of robotic hand using force sensing resistors

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