صورة الغلاف

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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محفوظ في:
التفاصيل البيبلوغرافية
المؤلفون الرئيسيون: Farag, Mohannad, Alsibai, Mohammed Hayyan, Norsinnira, Zainul Azlan, Abdul Nasir, Abd Ghafar
التنسيق: Conference or Workshop Item
اللغة:English
منشور في: Association for Computing Machinery 2019
الموضوعات:
TA Engineering (General). Civil engineering (General)
الوصول للمادة أونلاين: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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id my.ump.umpir.25002
record_format eprints
spelling my.ump.umpir.250022019-09-04T02:48:22Z http://umpir.ump.edu.my/id/eprint/25002/ Slippage Detection for Grasping Force Control of Robotic Hand Using Force Sensing Resistors Farag, Mohannad Alsibai, Mohammed Hayyan Norsinnira, Zainul Azlan Abdul Nasir, Abd Ghafar TA Engineering (General). Civil engineering (General) 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 to a lack of robustness in the hand’s performance. The robotic finger and the PAM actuator been mathematically modelled as a nonlinear second order system based on an empirical approach. An adaptive backstepping controller has been designed for force control of the pneumatic hand. The estimator of the system uncertainty is incorporated into the proposed control law and a slip detection strategy is introduced to grasp objects with changing weights. The simulation and experimental results show that the robotic hand can maintain grasping an object and stop further slippage when its weight is increased up to 500 g by detecting the slip signal from the force sensor. The results also have proven that the adaptive backstepping controller is capable to compensate the uncertain coulomb friction force of PAM actuator with maximum hysteresis error 0.18◦. Association for Computing Machinery 2019 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/25002/1/Slippage%20Detection%20for%20Grasping%20Force%20Control1.pdf Farag, Mohannad and Alsibai, Mohammed Hayyan and Norsinnira, Zainul Azlan and Abdul Nasir, Abd Ghafar (2019) Slippage Detection for Grasping Force Control of Robotic Hand Using Force Sensing Resistors. In: ICCTA 2019 Proceedings of the 2019 5th International Conference on Computer and Technology Applications, 16-17 April 2019 , Istanbul, Turkey. pp. 1-5.. ISBN 978-1-4503-7181-0 https://doi.org/10.1145/3323933.3324077
institution Universiti Malaysia Pahang Al-Sultan Abdullah
building UMPSA Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Pahang Al-Sultan Abdullah
content_source UMPSA Institutional Repository
url_provider http://umpir.ump.edu.my/
language English
topic TA Engineering (General). Civil engineering (General)
spellingShingle TA Engineering (General). Civil engineering (General)
Farag, Mohannad
Alsibai, Mohammed Hayyan
Norsinnira, Zainul Azlan
Abdul Nasir, Abd Ghafar
Slippage Detection for Grasping Force Control of Robotic Hand Using Force Sensing Resistors
description 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 to a lack of robustness in the hand’s performance. The robotic finger and the PAM actuator been mathematically modelled as a nonlinear second order system based on an empirical approach. An adaptive backstepping controller has been designed for force control of the pneumatic hand. The estimator of the system uncertainty is incorporated into the proposed control law and a slip detection strategy is introduced to grasp objects with changing weights. The simulation and experimental results show that the robotic hand can maintain grasping an object and stop further slippage when its weight is increased up to 500 g by detecting the slip signal from the force sensor. The results also have proven that the adaptive backstepping controller is capable to compensate the uncertain coulomb friction force of PAM actuator with maximum hysteresis error 0.18◦.
format Conference or Workshop Item
author Farag, Mohannad
Alsibai, Mohammed Hayyan
Norsinnira, Zainul Azlan
Abdul Nasir, Abd Ghafar
author_facet Farag, Mohannad
Alsibai, Mohammed Hayyan
Norsinnira, Zainul Azlan
Abdul Nasir, Abd Ghafar
author_sort Farag, Mohannad
title Slippage Detection for Grasping Force Control of Robotic Hand Using Force Sensing Resistors
title_short Slippage Detection for Grasping Force Control of Robotic Hand Using Force Sensing Resistors
title_full Slippage Detection for Grasping Force Control of Robotic Hand Using Force Sensing Resistors
title_fullStr Slippage Detection for Grasping Force Control of Robotic Hand Using Force Sensing Resistors
title_full_unstemmed Slippage Detection for Grasping Force Control of Robotic Hand Using Force Sensing Resistors
title_sort slippage detection for grasping force control of robotic hand using force sensing resistors
publisher Association for Computing Machinery
publishDate 2019
url 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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score 13.251813

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