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Robust Control for the Motion Five Fingered Robot Gripper

W. Widhiada, T. G. T. Nindhia, and N. Budiarsa
University of Udayana, Denpasar, Indonesia

Abstract—The design of multi-fingered robot hands have been one of the major research topics since grasping an object and are crucial functionalities of several robotic systems, including industrial robots, mobile robots and service robots. The author considers the problem of model-based control for a multi-fingered robot hand. This paper introduces an integrated design process for the design of the five fingered gripper suitable for dexterous motion by using simulation and experiment of prototype. To facilitate an integrated design of gripper finger, the author applied Matlab/Simulink (SimMechanics) and Inventor software packages, respectively. Multi-closed loop with the robust control of PID is applied to control both kinematics and dynamics motions of the five fingered gripper systems. To obtain the optimal trajectory planning approach using motion reference and integration of planning control for virtual actuators at each joint of finger gripper system. The analysis of experiment result shows the trajectory angular position of each finger link moves towards quickly to achieve the trajectory angle target with small error signal and overshoot.

Index Terms—multi fingered robot, kinematics and dynamics motions, robust control of PID

Cite: W. Widhiada, T. G. T. Nindhia, and N. Budiarsa, "Robust Control for the Motion Five Fingered Robot Gripper," International Journal of Mechanical Engineering and Robotics Research, Vol.4, No. 3, pp. 226-232, July 2015. DOI: 10.18178/ijmerr.4.3.226-232