Experimental studies of position control of linkage based robotic finger
The experimental study of position control of a light weight and small size robotic finger during non-contact motion is presented in this paper. The finger possesses fingertip pinching and self adaptive grasping capabilities, and is made of a seven bar linkage mechanism with a slider in the middle...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
World Academy of Science, Engineering and Technology
2011
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/47729/1/experimental_studies_of_4.pdf http://irep.iium.edu.my/47729/ http://waset.org/publications/3733/experimental-studies-of-position-control-of-linkage-based-robotic-finger |
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| Institution: | Universiti Islam Antarabangsa Malaysia |
| Language: | English |
| Summary: | The experimental study of position control of a light
weight and small size robotic finger during non-contact motion is presented in this paper. The finger possesses fingertip pinching and self adaptive grasping capabilities, and is made of a seven bar linkage mechanism with a slider in the middle phalanx. The control system is tested under the Proportional Integral Derivative (PID) control algorithm and Recursive Least Square (RLS) based Feedback Error Learning (FEL) control scheme to overcome the uncertainties present in the plant. The experiments conducted in Matlab Simulink and xPC Target environments show that the overall control strategy is efficient
in controlling the finger movement. |
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