Adaptive friction compensation for hand grasping and compliant control

Sadun, Amirul Syafiq; Jalani, Jamaludin; Sukor, Jumadi Abdul

doi:10.1109/aim.2015.7222559

Cited by 5 publications

(4 citation statements)

References 21 publications

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“…The interfacing is done via the Arduino Mega 2560 board. With the Simulink support package for Arduino hardware, it becomes possible to develop and execute Simulink models directly on the Arduino Mega 2560 board, enabling seamless integration between Simulink and the physical hardware [26].…”

Section: Hardware and Software Design And Implementationmentioning

confidence: 99%

Real-Time Simulation and Experimental Implementation of Luenberger Observer-Based Speed Sensor Fault Detection of BLDC Motors

AL-Mutayeb,

Almobaied,

Ouda

2024

Acta Mechanica Et Automatica

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Modern control systems’ dependability, safety and efficiency have all been improved by studying fault-tolerant control systems (FTCS). FTCS techniques can typically be active or passive controls. The fault detection and diagnosis (FDD) method is used in this study’s active control branch to identify probable faults that could develop in the speed Hall sensors of brushless DC motors (BLDC). FDD methodologies can be categorised into two types, depending on the available data and the process involved: model-based methods and data-based methods. The proposed approach in this study explores the implementation of the Luenberger observer methodology as part of the model-based approach. The chosen methodology was practically implemented and subjected to experimental evaluation. The proposed observer relies on the residual signal, which displays the difference between the plant’s observed and estimated speed signals and serves as a failure alert for the entire system. Given the increasing demand for BLDC motors in various industrial control applications, including medical fields, automation and robotics, this particular motor was selected as a benchmark to thoroughly evaluate and validate the proposed method. The primary contribution of this paper lies in the real-time application of model-based sensor fault detection methods to BLDC motors. The efficiency of the suggested method is showcased through extensive MATLAB simulations, where the obtained results confirm the successful detection of faults with a high level of responsiveness. As a result, the project was successfully implemented in real-time, and the experimental results exhibited a close correlation with the simulated outcomes. This consistency between simulation and practical implementation validates the accuracy and reliability of the proposed methodology for detecting faults in the BLDC motor speed sensor. The results underscore the heightened reliability and safety attained by promptly and accurately detecting sensor faults during the operation of the motor.

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Section: Hardware and Software Design And Implementationmentioning

confidence: 99%

Real-Time Simulation and Experimental Implementation of Luenberger Observer-Based Speed Sensor Fault Detection of BLDC Motors

AL-Mutayeb,

Almobaied,

Ouda

2024

Acta Mechanica Et Automatica

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“…A variety of control systems have been developed, which have different effect of motors and precision to meet different requirements. Some examples of these include a PID controller with friction compensation [3,4], a robotic arm controlled based on Arduino [5,6], stepper motor's position control [7][8][9], servo motor's control system [4,10], the strength and thermal expansion of 3D-printing part [11][12][13][14], and the optimization for the control system [15]. Each strategy has its own advantages and disadvantages.…”

Section: Introductionmentioning

confidence: 99%

Design of a Fully Automatic Ironing Machine

Jiang¹

2023

HSET

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This paper represents a design of an automatic ironing machine, whose motion is controlled by two stepper motors and two servo motors. The computer-aided design figure will be introduced first, to express the basic structure and show the movement process of the automatic ironing machine to achieve the goal of ironing a cloth. Next, the control methods of servo motors and stepper motors are represented as well as the way to optimize the algorithm, where the objective is to make the motion adapt to the structure of the machine. Then, since some parts of the machine are made by 3D printing, there are some problems in the actual production process, and some solutions to those problems are going to be introduced. Finally, the results are discussed, with a focus on both the advantages and disadvantages of this machine and further improvement.

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“…It is certainly suitable for the application of active compliance control [9]. The external force is introduced by incorporating interlink FSR sensors on the robot finger tips.…”

Section: A General Informationmentioning

confidence: 99%

Force control for a 3-Finger Adaptive Robot Gripper by using PID controller

Sadun

Jalani

Sukor

et al. 2016

2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA)

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Abstract-In order to ensure that a robotic hand can successfully grasp objects without damaging them, an active compliance control can be a very useful technique to provide a safe grasping. In particular, this paper establishes a direct force control for a 3-Finger Adaptive Robot Gripper by using a PID control. A modified FSR force sensor where a plastic cover is used to ensure the contacted force during grasping can be measured and recorded. A series of grasping tests were performed to observe the performance of PID control. The experimental results show that the PID control can be a simple and reliable control scheme to provide an active compliance control through direct force control. In addition, different compliance level is feasible particularly for a stiff spongy ball.

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Adaptive friction compensation for hand grasping and compliant control

Cited by 5 publications

References 21 publications

Real-Time Simulation and Experimental Implementation of Luenberger Observer-Based Speed Sensor Fault Detection of BLDC Motors

Real-Time Simulation and Experimental Implementation of Luenberger Observer-Based Speed Sensor Fault Detection of BLDC Motors

Design of a Fully Automatic Ironing Machine

Force control for a 3-Finger Adaptive Robot Gripper by using PID controller

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