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Improvement On Transient Response Of Pneumatic Grasper Robot Positioning Using Deadzone Compensator

This project presents the design and modeling dead zone compensator with the close-loop control of pneumatic robot grasper unit. Pneumatic system is a very common devices in industrial automation application due to the advantage such as easy and simple maintenance. However, there are some challenges...

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Main Author: Muhamad Saiful Azrin, Abdul Ghani
Format: Undergraduates Project Papers
Language:English
Published: 2022
Subjects:
TA Engineering (General). Civil engineering (General)
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://umpir.ump.edu.my/id/eprint/39938/1/EC18062_Muhamad%20Saiful%20Azrin_THESIS%20-%20Saiful%20Azrin.pdf
http://umpir.ump.edu.my/id/eprint/39938/
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spelling my.ump.umpir.399382024-01-09T08:08:00Z http://umpir.ump.edu.my/id/eprint/39938/ Improvement On Transient Response Of Pneumatic Grasper Robot Positioning Using Deadzone Compensator Muhamad Saiful Azrin, Abdul Ghani TA Engineering (General). Civil engineering (General) TK Electrical engineering. Electronics Nuclear engineering This project presents the design and modeling dead zone compensator with the close-loop control of pneumatic robot grasper unit. Pneumatic system is a very common devices in industrial automation application due to the advantage such as easy and simple maintenance. However, there are some challenges and limitation in application due to its non-linearities with uncertain behavior including dead zone influences. Dead zone is referring certain input control valve values give no response to the valve operations as the pressure flow is blocked. Therefore, this study has taken initiative to propose the method to compensate with the dead zone effect such by using inverse dead zone function approaches. The identification works are done to identifying the characteristic of the pneumatic system used on the targeted platform; tri-finger pneumatic grippers (TPG). Moreover, the data from dead zone analysis was used to design the compensator equation and apply to the PID controller as selected controller. The result shows that the offset value is close to the center, and the dead zone values on both sides are balanced. The proposed compensator. The experiment carried on targeted platform to validate the proposed compensator with the controller without the compensator. The result shows that the PID control system with compensator have improved the transient response of a fingertip positioning for the TPG system. 2022-06 Undergraduates Project Papers NonPeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/39938/1/EC18062_Muhamad%20Saiful%20Azrin_THESIS%20-%20Saiful%20Azrin.pdf Muhamad Saiful Azrin, Abdul Ghani (2022) Improvement On Transient Response Of Pneumatic Grasper Robot Positioning Using Deadzone Compensator. College of Engineering, Universiti Malaysia Pahang Al-Sultan Abdullah.
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)
TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TA Engineering (General). Civil engineering (General)
TK Electrical engineering. Electronics Nuclear engineering
Muhamad Saiful Azrin, Abdul Ghani
Improvement On Transient Response Of Pneumatic Grasper Robot Positioning Using Deadzone Compensator
description This project presents the design and modeling dead zone compensator with the close-loop control of pneumatic robot grasper unit. Pneumatic system is a very common devices in industrial automation application due to the advantage such as easy and simple maintenance. However, there are some challenges and limitation in application due to its non-linearities with uncertain behavior including dead zone influences. Dead zone is referring certain input control valve values give no response to the valve operations as the pressure flow is blocked. Therefore, this study has taken initiative to propose the method to compensate with the dead zone effect such by using inverse dead zone function approaches. The identification works are done to identifying the characteristic of the pneumatic system used on the targeted platform; tri-finger pneumatic grippers (TPG). Moreover, the data from dead zone analysis was used to design the compensator equation and apply to the PID controller as selected controller. The result shows that the offset value is close to the center, and the dead zone values on both sides are balanced. The proposed compensator. The experiment carried on targeted platform to validate the proposed compensator with the controller without the compensator. The result shows that the PID control system with compensator have improved the transient response of a fingertip positioning for the TPG system.
format Undergraduates Project Papers
author Muhamad Saiful Azrin, Abdul Ghani
author_facet Muhamad Saiful Azrin, Abdul Ghani
author_sort Muhamad Saiful Azrin, Abdul Ghani
title Improvement On Transient Response Of Pneumatic Grasper Robot Positioning Using Deadzone Compensator
title_short Improvement On Transient Response Of Pneumatic Grasper Robot Positioning Using Deadzone Compensator
title_full Improvement On Transient Response Of Pneumatic Grasper Robot Positioning Using Deadzone Compensator
title_fullStr Improvement On Transient Response Of Pneumatic Grasper Robot Positioning Using Deadzone Compensator
title_full_unstemmed Improvement On Transient Response Of Pneumatic Grasper Robot Positioning Using Deadzone Compensator
title_sort improvement on transient response of pneumatic grasper robot positioning using deadzone compensator
publishDate 2022
url http://umpir.ump.edu.my/id/eprint/39938/1/EC18062_Muhamad%20Saiful%20Azrin_THESIS%20-%20Saiful%20Azrin.pdf
http://umpir.ump.edu.my/id/eprint/39938/
_version_ 1822924068342464512
score 13.23243

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