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Interaction Motion Control on Tri-finger Pneumatic Grasper using Variable Convergence Rate Prescribed Performance Impedance Control with Pressure-based Force Estimator

Pneumatic robot is a fluid dynamic based robot system which possesses immense uncertainties and nonlinearities over its electrical driven counterpart. Requirement for dynamic motion handling further challenged the implemented control system on both aspects of interaction and compliance control. This...

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Main Authors: Addie Irawan, Hashim, Mohd Iskandar Putra, Azahar, Pebrianti, Dwi
Format: Article
Language:English
Published: Universitas Muhammadiyah Yogyakarta 2022
Subjects:
T Technology (General)
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://umpir.ump.edu.my/id/eprint/38920/1/Interaction%20Motion%20Control%20on%20Tri-finger%20Pneumatic%20Grasper%20using%20Variable%20Convergence%20Rate%20Prescribed%20Performance%20Impedance%20Control%20with%20Pressure-based%20Force%20Estimator.pdf
http://umpir.ump.edu.my/id/eprint/38920/
https://doi.org/10.18196/jrc.v3i5.16316
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spelling my.ump.umpir.389202023-10-19T00:00:49Z http://umpir.ump.edu.my/id/eprint/38920/ Interaction Motion Control on Tri-finger Pneumatic Grasper using Variable Convergence Rate Prescribed Performance Impedance Control with Pressure-based Force Estimator Addie Irawan, Hashim Mohd Iskandar Putra, Azahar Pebrianti, Dwi T Technology (General) TK Electrical engineering. Electronics Nuclear engineering Pneumatic robot is a fluid dynamic based robot system which possesses immense uncertainties and nonlinearities over its electrical driven counterpart. Requirement for dynamic motion handling further challenged the implemented control system on both aspects of interaction and compliance control. This study especially set to counter the unstable and inadaptable proportional motions of pneumatic robot grasper towards its environment through the employment of Variable Convergence Rate Prescribed Performance Impedance Control (VPPIC) with pressure-based force estimation (PFE). Impedance control was derived for a single finger of Tri-finger Pneumatic Grasper (TPG) robot, with improvement being subsequently made to the controller’s output by appropriation of formulated finite-time prescribed performance control. Produced responses from exerted pressure of the maneuvered pneumatic piston were then recorded via derived PEE with adherence to both dynamics and geometry of the designated finger. Validation of the proposed method was proceeded on both circumstances of human hand as a blockage and ping-pong ball as methodical representation of a fragile object. Developed findings confirmed relatively uniform force sensing ability for both proposed PEE and load sensor as equipped to the robot’s fingertip with respect to the experimented thrusting and holding of a human hand. Sensing capacity of the estimator has also advanced beyond the fingertip to enclose its finger in entirety. Whereas stable interaction control at negligible oscillation has been exhibited from VPPIC against the standard impedance control towards gentle and compression-free handling of fragile objects. Overall positional tracking of the finger, thus, justified VPPIC as a robust mechanism for smooth operation amid and succeed direct object interaction, notwithstanding its transcendence beyond boundaries of the prescribed performance constraint. Universitas Muhammadiyah Yogyakarta 2022-09 Article PeerReviewed pdf en cc_by_4 http://umpir.ump.edu.my/id/eprint/38920/1/Interaction%20Motion%20Control%20on%20Tri-finger%20Pneumatic%20Grasper%20using%20Variable%20Convergence%20Rate%20Prescribed%20Performance%20Impedance%20Control%20with%20Pressure-based%20Force%20Estimator.pdf Addie Irawan, Hashim and Mohd Iskandar Putra, Azahar and Pebrianti, Dwi (2022) Interaction Motion Control on Tri-finger Pneumatic Grasper using Variable Convergence Rate Prescribed Performance Impedance Control with Pressure-based Force Estimator. Journal of Robotics and Control (JRC), 3 (5). pp. 716-724. ISSN 2715-5072. (Published) https://doi.org/10.18196/jrc.v3i5.16316 10.18196/jrc.v3i5.16316
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 T Technology (General)
TK Electrical engineering. Electronics Nuclear engineering
spellingShingle T Technology (General)
TK Electrical engineering. Electronics Nuclear engineering
Addie Irawan, Hashim
Mohd Iskandar Putra, Azahar
Pebrianti, Dwi
Interaction Motion Control on Tri-finger Pneumatic Grasper using Variable Convergence Rate Prescribed Performance Impedance Control with Pressure-based Force Estimator
description Pneumatic robot is a fluid dynamic based robot system which possesses immense uncertainties and nonlinearities over its electrical driven counterpart. Requirement for dynamic motion handling further challenged the implemented control system on both aspects of interaction and compliance control. This study especially set to counter the unstable and inadaptable proportional motions of pneumatic robot grasper towards its environment through the employment of Variable Convergence Rate Prescribed Performance Impedance Control (VPPIC) with pressure-based force estimation (PFE). Impedance control was derived for a single finger of Tri-finger Pneumatic Grasper (TPG) robot, with improvement being subsequently made to the controller’s output by appropriation of formulated finite-time prescribed performance control. Produced responses from exerted pressure of the maneuvered pneumatic piston were then recorded via derived PEE with adherence to both dynamics and geometry of the designated finger. Validation of the proposed method was proceeded on both circumstances of human hand as a blockage and ping-pong ball as methodical representation of a fragile object. Developed findings confirmed relatively uniform force sensing ability for both proposed PEE and load sensor as equipped to the robot’s fingertip with respect to the experimented thrusting and holding of a human hand. Sensing capacity of the estimator has also advanced beyond the fingertip to enclose its finger in entirety. Whereas stable interaction control at negligible oscillation has been exhibited from VPPIC against the standard impedance control towards gentle and compression-free handling of fragile objects. Overall positional tracking of the finger, thus, justified VPPIC as a robust mechanism for smooth operation amid and succeed direct object interaction, notwithstanding its transcendence beyond boundaries of the prescribed performance constraint.
format Article
author Addie Irawan, Hashim
Mohd Iskandar Putra, Azahar
Pebrianti, Dwi
author_facet Addie Irawan, Hashim
Mohd Iskandar Putra, Azahar
Pebrianti, Dwi
author_sort Addie Irawan, Hashim
title Interaction Motion Control on Tri-finger Pneumatic Grasper using Variable Convergence Rate Prescribed Performance Impedance Control with Pressure-based Force Estimator
title_short Interaction Motion Control on Tri-finger Pneumatic Grasper using Variable Convergence Rate Prescribed Performance Impedance Control with Pressure-based Force Estimator
title_full Interaction Motion Control on Tri-finger Pneumatic Grasper using Variable Convergence Rate Prescribed Performance Impedance Control with Pressure-based Force Estimator
title_fullStr Interaction Motion Control on Tri-finger Pneumatic Grasper using Variable Convergence Rate Prescribed Performance Impedance Control with Pressure-based Force Estimator
title_full_unstemmed Interaction Motion Control on Tri-finger Pneumatic Grasper using Variable Convergence Rate Prescribed Performance Impedance Control with Pressure-based Force Estimator
title_sort interaction motion control on tri-finger pneumatic grasper using variable convergence rate prescribed performance impedance control with pressure-based force estimator
publisher Universitas Muhammadiyah Yogyakarta
publishDate 2022
url http://umpir.ump.edu.my/id/eprint/38920/1/Interaction%20Motion%20Control%20on%20Tri-finger%20Pneumatic%20Grasper%20using%20Variable%20Convergence%20Rate%20Prescribed%20Performance%20Impedance%20Control%20with%20Pressure-based%20Force%20Estimator.pdf
http://umpir.ump.edu.my/id/eprint/38920/
https://doi.org/10.18196/jrc.v3i5.16316
_version_ 1822923781383913472
score 13.232414

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