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

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

doi:10.1109/roma.2016.7847807

Cited by 12 publications

(4 citation statements)

References 15 publications

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“…Examples of research on force control, particularly for the robotic hand can be found in [10][11][12]. Most of these research studies aim mainly to create a biomechanically realistic human hand.…”

Section: The Materials Methods 21 Literature Review (Finger Rehabilitamentioning

confidence: 99%

Force Control for One Degree of Freedom Haptic Device using PID Controller

Husni¹,

Rahman²,

Jalil³

et al. 2020

IJIE

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Haptics has been used as an additional feedback to increase human experience to the environment over years and its application has been widening into education, manufacturing and medical. The most developed haptic devices are for rehabilitation purposes. The rehabilitation process usually depends on the physiotherapist. But it requires repetitive movements for long-term rehabilitation, thus haptic devices are needed. Most of the rehabilitation devices are include haptic feedback to enhance therapeutic outcome during the rehabilitation process. However, the devices typically incorporate multiple degrees of freedom (DOF), complex design, and are costly. Rehabilitation for hand movement such as grasping, squeezing, holding and pinching usually does not need an expensive and complex device. Therefore, the goal of this study is to develop a simple one DOF Haptic Device for grasping rehabilitation exercise. The performance of the haptic device is tested with different conventional controllers, such as Proportional (P) controller, Proportional-Integral (PI) controller, Proportional-Derivative (PD) controller and Proportional-Integral-Derivative (PID) controller, to obtain the best proposed controller based on the lowest value of Mean Square Error (MSE). The results show that PID Controller (MSE = 0.0028) is the most suitable for the haptic device with Proportional gain (Kp), Integral gain (Ki) and Derivative gain (Kd) are 1.3, 0.01 and 0.2 respectively. The force control algorithm can imitate the training motion of grasping movement for the patient.

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Section: The Materials Methods 21 Literature Review (Finger Rehabilitamentioning

confidence: 99%

Force Control for One Degree of Freedom Haptic Device using PID Controller

Husni¹,

Rahman²,

Jalil³

et al. 2020

IJIE

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“…Arduino Mega 2560 board is used as the data acquisition card which can be programmed with the Simulink environment. Recently, the programmers can use the Simulink Support Package for Arduino Hardware to generate and run Simulink models on the Arduino Mega 2560 board [25].…”

Section: Hardware and Software Design And Im-plementationmentioning

confidence: 99%

Luenberger Observer-Based Speed Sensor Fault Detection: real time implementation to DC Motors

2023

JERT

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Fault Tolerant Control Systems (FTCS) have emerged as a critical area of study for enhancing the safety, reliability, and efficiency of modern control systems. The FTCS technique might be active or passive control in general. In this paper, the active control branch's Fault Detection and Diagnosis (FDD) is used to detect faults in DC motor speed sensors. FDD methodologies can be divided into two types based on the process and the type of data available: model-based methods and data-based methods. The proposed method here investigates the use of the Luenberger observer technique, which is part of the model-based approach. The selected method was implemented and experimentally evaluated. This observer is dependent on the residual signal, which serves as a fault indicator in the overall system and represents the difference between the measured and estimated speed signals from the plant. Due to the increasing demand for these motors, particularly in electro-mechanical applications such as robotics, elevators, and electric-driven railways, a DC motor was chosen as a benchmark to test the proposed method. The output speed of the motor was subjected to four sensor faults: sensor fault, abrupt fault, intermittent fault, and incipient fault. The effectiveness of the suggested approach is demonstrated using MATLAB simulations, and the results show that faults are detected as anticipated with a high-performing response. Therefore, the proposed method was also implemented experimentally in real time and the obtained results showed a close match with those from simulation, thus proving the accuracy and reliability of the proposed methodology for fault detection in the DC motor speed sensor.

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“…Other applications [28,29] showed how to set up separate PIDs dedicated to the actuation control of multiple fingers. In [28], DC motors provided with encoders were used to drive each of the three fingers of a commercial gripper, which were in turn equipped with as many tactile force sensors. Each finger was position-controlled with a PID, whereas a simple proportional force control component was added for each of them.…”

Section: Proportional Integrative Derivativementioning

confidence: 99%

Control Methodologies for Robotic Grippers: A Review

Cortinovis,

Vitrani,

Maggiali

et al. 2023

Actuators

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As automation is spreading in all the industry domains, the presence of robots is becoming unavoidable inside factories, warehouses and manufacturing facilities. Although a great number of companies and research institutions have concentrated their efforts on developing new robotic systems and advanced algorithms, much work is necessary to provide robotic grippers, especially industrial ones, with reliable, powerful control strategies. Therefore, this article aims at delivering an up-to-date point of view on the state of the art of robotic gripper control. The principal control methodologies employed so far, as well as a thorough selection of the existing contributions to the field, will be reported and discussed. Finally, the authors’ opinion about future directions will be expressed.

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

Cited by 12 publications

References 15 publications

Force Control for One Degree of Freedom Haptic Device using PID Controller

Force Control for One Degree of Freedom Haptic Device using PID Controller

Luenberger Observer-Based Speed Sensor Fault Detection: real time implementation to DC Motors

Control Methodologies for Robotic Grippers: A Review

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