Point-to-point positioning and tracking performances of an underactuated robotic hand system

被引：0

作者：

Yeo, C. K. ^{[1
]}

Ghazaly, M. M. ^{[1
]}

Chong, S. H. ^{[1
]}

Jamaludin, I. W. ^{[1
]}

机构：

[1] Univ Teknikal Malaysia Melaka, Fac Elect Engn, Ctr Robot & Ind Automat CeRIA, Durian Tunggal 76100, Melaka, Malaysia

来源：

INNOVATIVE RESEARCH AND INDUSTRIAL DIALOGUE 2016 (IRID'16) | 2017年

关键词：

Point-to-point positioning; underactuated robotic hand; PD controller;

D O I：

暂无

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

This paper presents the Point-to-Point (PTP) positioning and tracking performances for an underactuated Robotic Hand (RH) with PD controller. The introduce of the underactuated robotic hand with wire mechanism is to reduce the complexity of the controller while perform an excellent performance in term of accuracy and time response. The robotic finger is actuated with a DC geared motor connected to a wire and the performance will be analyzed using MATLAB simulink interface with Micro-box 2000/2000C for real time analysis. The control strategy with PD controller had improved the robotic hand performances with error less than 8 degrees and shorter response time of 1s, respectively. However, the PD controller unable to track the signal perfectly as there is error of approximate +/- 1.5 degrees and the error increase as the frequency increase.

引用

页码：19 / 20

页数：2

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