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 leading...

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Bibliographic Details
Main Authors: Farag, Mohannad, Alsibai, Mohammed Hayyan, Norsinnira, Zainul Azlan, Abdul Nasir, Abd Ghafar
Format: Conference or Workshop Item
Language:English
Published: Association for Computing Machinery 2019
Subjects:
Online Access:http://umpir.ump.edu.my/id/eprint/25002/1/Slippage%20Detection%20for%20Grasping%20Force%20Control1.pdf
http://umpir.ump.edu.my/id/eprint/25002/
https://doi.org/10.1145/3323933.3324077
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Institution: Universiti Malaysia Pahang
Language: English