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 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.
[1] K. Hoshino, I. Kawabuchi, "Dexterous Robot Hand with Pinching
Function at Fingertips", in 2006 IEEE/RAS-EMBS International
Conference on Biomedical Robotics and Biomechatronics, pp.
1113-1118.
[2] S. G. Jacobsen, E. K. Iversen, D. F. Knutti, R. T. Johnson, K. B. Biggers,
"Design of the Utah/M.I.T. Dextrous Hand", in 1986 IEEE International
Conference on Robotics and Automation, pp.1520-1532.
[3] M. T. Mason, J. K. Salisbury, Robot Hands and the Mechanics of
Manipulation. USA: MIT Press, 1985.
[4] B. Massa, S. Rocella, M. C. Carozza and P. Dario, "Design and
Development of an Underactuated Prosthetic Hand", in 2002 IEEE
International Conference on Robotics and Automation, pp. 3374-3379.
[5] N. Fukaya, S. Toyama , T. Asfour and R. Dillmann, "Design of the
TUAT/ Karlsruhe Humanoid Hand", in the Proceedings of the 2000
IEEE/RSJ International Conference on Intelligent Robots and Systems,
2000, pp. 1754- 1759.
[6] N. Z. Azlan and H. Yamaura, "Modeling and Control of Compact
Anthropomorphic Robot Finger", Proceedings of the 2000 International
Conference of Modelling, Identification and Control, 2011, pp 118-123.
[7] J. Tao and J. P. Sadler, "Constant Speed Control of a Motor Driven
Mechanism System", Mechanism and Machine Theory, vol 30,
pp737-748, 1994.
[8] M. C. Lin and J. S. Chen, "Experiments toward MRAC design for
linkage system", Mechatronics;, vol. 6, no. 8, pp933-953, 1996.
[9] L. C. Dugler, A. Kirecci and M. Topalbekiroglu, "Modeling and
simulation of hybrid actuator", Mechanism and machine theory, vol. 38,
pp 395-407, 2003.
[10] H. Chen, K. Hirasawa and J. Hu, "Robust Feedback Error Learning
Method for Controller Design of Nonlinear Systems", 2004 IEEE
International Joint Conference on Neural Networks, 2004, pp1835-40.
[1] K. Hoshino, I. Kawabuchi, "Dexterous Robot Hand with Pinching
Function at Fingertips", in 2006 IEEE/RAS-EMBS International
Conference on Biomedical Robotics and Biomechatronics, pp.
1113-1118.
[2] S. G. Jacobsen, E. K. Iversen, D. F. Knutti, R. T. Johnson, K. B. Biggers,
"Design of the Utah/M.I.T. Dextrous Hand", in 1986 IEEE International
Conference on Robotics and Automation, pp.1520-1532.
[3] M. T. Mason, J. K. Salisbury, Robot Hands and the Mechanics of
Manipulation. USA: MIT Press, 1985.
[4] B. Massa, S. Rocella, M. C. Carozza and P. Dario, "Design and
Development of an Underactuated Prosthetic Hand", in 2002 IEEE
International Conference on Robotics and Automation, pp. 3374-3379.
[5] N. Fukaya, S. Toyama , T. Asfour and R. Dillmann, "Design of the
TUAT/ Karlsruhe Humanoid Hand", in the Proceedings of the 2000
IEEE/RSJ International Conference on Intelligent Robots and Systems,
2000, pp. 1754- 1759.
[6] N. Z. Azlan and H. Yamaura, "Modeling and Control of Compact
Anthropomorphic Robot Finger", Proceedings of the 2000 International
Conference of Modelling, Identification and Control, 2011, pp 118-123.
[7] J. Tao and J. P. Sadler, "Constant Speed Control of a Motor Driven
Mechanism System", Mechanism and Machine Theory, vol 30,
pp737-748, 1994.
[8] M. C. Lin and J. S. Chen, "Experiments toward MRAC design for
linkage system", Mechatronics;, vol. 6, no. 8, pp933-953, 1996.
[9] L. C. Dugler, A. Kirecci and M. Topalbekiroglu, "Modeling and
simulation of hybrid actuator", Mechanism and machine theory, vol. 38,
pp 395-407, 2003.
[10] H. Chen, K. Hirasawa and J. Hu, "Robust Feedback Error Learning
Method for Controller Design of Nonlinear Systems", 2004 IEEE
International Joint Conference on Neural Networks, 2004, pp1835-40.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:52845", author = "N. Z. Azlan and H. Yamaura", title = "Experimental Studies of Position Control of Linkage based Robotic Finger", abstract = "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.", keywords = "Anthropomorphic finger, position control, feedback
error learning, experimental study", volume = "5", number = "10", pages = "1954-7", }