Optimal design and positioning control performance of a 2-DOF robotic finger

This research focuses on the positioning control performances of two degrees of freedom (2-DOF) robotic finger mechanism in achieving precision motion control. The research outcomes were expected to contribute in wider robotic hands for precision applications and suggest that the advantages of 2-DOF...

Full description

Saved in:

Bibliographic Details
Main Author:	Mohamad Yuden, Mohamad Adzeem
Format:	Thesis
Language:	English English
Published:	2018
Subjects:	T Technology (General) TJ Mechanical engineering and machinery
Online Access:	http://eprints.utem.edu.my/id/eprint/23486/1/Optimal%20Design%20And%20Positioning%20Control%20Performance%20Of%20A%202-DOF%20Robotic%20Finger%20-%20Mohamad%20Adzeem%20Mohamad%20Yuden%20-%2024%20Pages.pdf http://eprints.utem.edu.my/id/eprint/23486/2/Optimal%20design%20and%20positioning%20control%20performance%20of%20a%202-DOF%20robotic%20finger.pdf
Tags:	Add Tag No Tags, Be the first to tag this record!

id	my-utem-ep.23486
record_format	uketd_dc
institution	Universiti Teknikal Malaysia Melaka
collection	UTeM Repository
language	English English
advisor	Md Ghazaly, Mariam
topic	T Technology (General) TJ Mechanical engineering and machinery
spellingShingle	T Technology (General) TJ Mechanical engineering and machinery Mohamad Yuden, Mohamad Adzeem Optimal design and positioning control performance of a 2-DOF robotic finger
description	This research focuses on the positioning control performances of two degrees of freedom (2-DOF) robotic finger mechanism in achieving precision motion control. The research outcomes were expected to contribute in wider robotic hands for precision applications and suggest that the advantages of 2-DOF robotic finger can be carried over to precision and dexterous tasks. The research investigates the design of a 2-DOF robotic finger mechanism and its control strategies for achieving high precision grasping as initial research towards developing a multi-fingered robotic hand system. Behaviors such as instability, large steady-state error and poor transient performance often occurred in the robotic hand mechanism. Therefore, the goal of this research is to design a 2-DOF robotic finger mechanism and compare the performances of several controllers for positioning motion control and evaluate the effectiveness of controllers by Point-to-Point (PTP) control and tracking control. In this research, the proposed controllers will depend on the angular position control of each motor joints, i.e. the position control of the 2-DOF robotic finger mechanism. In order to achieve the research objectives, the research was implemented in three (3) main phases. Phase 1 involve the optimization of the robotic hand design using Finite Element Analysis (FEA) using Solidworks software and its experimental setup. In Phase 2, the robotic finger mechanism mathematical modeling and system identification methods were discussed and compared. In phase 3, two categories of control system experiments were carried out which are the open-loop control system and the closed-loop control system. For open-loop system, the evaluation was done using the step input signal. Meanwhile, the closed-loop system was carried out for uncompensated and compensated system using several reference angles. Three different control startegies namely (i) Proportional Integral Derivative (PID) controller (ii) Fuzzy Logic controller (FLC) and (iii) Linear Quadratic Regulator (LQR) controller were chosen to be compared via simulation and experimental works. The controller results were validated by Point-to-Point (PTP) control and tracking control with frequency from 0.1 Hz to 0.5 Hz at different reference amplitudes. From the analyze results, it is proven that the Fuzzy controller gave the best performances and has higher level of adaptability for the PTP control with improvements in both response time by 97.9 % (0.075 s) and steady-state error by 99.5 % (0.01 °) in compared to the uncompensated system. Meanwhile, it was concluded that LQR controller exhibits the best tracking control performances. The LQR controller had demonstrated an improvement in steady-state error by 98.5 % (0.11 °) over the uncompensated system in a series of experimental tracking tests. It was also concluded that the 2-DOF robotic finger mechanism had also succeeded the grasping tasks with the specific reference trajectory using the Fuzzy controller.
format	Thesis
qualification_name	Master of Philosophy (M.Phil.)
qualification_level	Master's degree
author	Mohamad Yuden, Mohamad Adzeem
author_facet	Mohamad Yuden, Mohamad Adzeem
author_sort	Mohamad Yuden, Mohamad Adzeem
title	Optimal design and positioning control performance of a 2-DOF robotic finger
title_short	Optimal design and positioning control performance of a 2-DOF robotic finger
title_full	Optimal design and positioning control performance of a 2-DOF robotic finger
title_fullStr	Optimal design and positioning control performance of a 2-DOF robotic finger
title_full_unstemmed	Optimal design and positioning control performance of a 2-DOF robotic finger
title_sort	optimal design and positioning control performance of a 2-dof robotic finger
granting_institution	Universiti Teknikal Malaysia Melaka
granting_department	Faculty of Electrical Engineering
publishDate	2018
url	http://eprints.utem.edu.my/id/eprint/23486/1/Optimal%20Design%20And%20Positioning%20Control%20Performance%20Of%20A%202-DOF%20Robotic%20Finger%20-%20Mohamad%20Adzeem%20Mohamad%20Yuden%20-%2024%20Pages.pdf http://eprints.utem.edu.my/id/eprint/23486/2/Optimal%20design%20and%20positioning%20control%20performance%20of%20a%202-DOF%20robotic%20finger.pdf
_version_	1747834051271589888
spelling	my-utem-ep.234862022-05-13T11:50:43Z Optimal design and positioning control performance of a 2-DOF robotic finger 2018 Mohamad Yuden, Mohamad Adzeem T Technology (General) TJ Mechanical engineering and machinery This research focuses on the positioning control performances of two degrees of freedom (2-DOF) robotic finger mechanism in achieving precision motion control. The research outcomes were expected to contribute in wider robotic hands for precision applications and suggest that the advantages of 2-DOF robotic finger can be carried over to precision and dexterous tasks. The research investigates the design of a 2-DOF robotic finger mechanism and its control strategies for achieving high precision grasping as initial research towards developing a multi-fingered robotic hand system. Behaviors such as instability, large steady-state error and poor transient performance often occurred in the robotic hand mechanism. Therefore, the goal of this research is to design a 2-DOF robotic finger mechanism and compare the performances of several controllers for positioning motion control and evaluate the effectiveness of controllers by Point-to-Point (PTP) control and tracking control. In this research, the proposed controllers will depend on the angular position control of each motor joints, i.e. the position control of the 2-DOF robotic finger mechanism. In order to achieve the research objectives, the research was implemented in three (3) main phases. Phase 1 involve the optimization of the robotic hand design using Finite Element Analysis (FEA) using Solidworks software and its experimental setup. In Phase 2, the robotic finger mechanism mathematical modeling and system identification methods were discussed and compared. In phase 3, two categories of control system experiments were carried out which are the open-loop control system and the closed-loop control system. For open-loop system, the evaluation was done using the step input signal. Meanwhile, the closed-loop system was carried out for uncompensated and compensated system using several reference angles. Three different control startegies namely (i) Proportional Integral Derivative (PID) controller (ii) Fuzzy Logic controller (FLC) and (iii) Linear Quadratic Regulator (LQR) controller were chosen to be compared via simulation and experimental works. The controller results were validated by Point-to-Point (PTP) control and tracking control with frequency from 0.1 Hz to 0.5 Hz at different reference amplitudes. From the analyze results, it is proven that the Fuzzy controller gave the best performances and has higher level of adaptability for the PTP control with improvements in both response time by 97.9 % (0.075 s) and steady-state error by 99.5 % (0.01 °) in compared to the uncompensated system. Meanwhile, it was concluded that LQR controller exhibits the best tracking control performances. The LQR controller had demonstrated an improvement in steady-state error by 98.5 % (0.11 °) over the uncompensated system in a series of experimental tracking tests. It was also concluded that the 2-DOF robotic finger mechanism had also succeeded the grasping tasks with the specific reference trajectory using the Fuzzy controller. UTeM 2018 Thesis http://eprints.utem.edu.my/id/eprint/23486/ http://eprints.utem.edu.my/id/eprint/23486/1/Optimal%20Design%20And%20Positioning%20Control%20Performance%20Of%20A%202-DOF%20Robotic%20Finger%20-%20Mohamad%20Adzeem%20Mohamad%20Yuden%20-%2024%20Pages.pdf text en public http://eprints.utem.edu.my/id/eprint/23486/2/Optimal%20design%20and%20positioning%20control%20performance%20of%20a%202-DOF%20robotic%20finger.pdf text en validuser https://plh.utem.edu.my/cgi-bin/koha/opac-detail.pl?biblionumber=113273 mphil masters Universiti Teknikal Malaysia Melaka Faculty of Electrical Engineering Md Ghazaly, Mariam 1. Al-Gallaf, E. a and Engineering, E., 2008. Neural Networks for Multi-Finger Robot Hand Control. JKAU: Eng. Sci, 19 (1), pp.19–42. 2. Ang, K.H., Chong, G., and Li, Y., 2005. PID control system analysis, design, and technology. IEEE Transactions on Control Systems Technology, 13 (4), pp.559–576. 3. Araki, M. and Taguchi, H., 2003. Two-degree-of-freedom PID controllers. International Journal of Control Automation and Systems, 1 (4), pp.401–411. 4. Araki, N., Inaya, K., Konishi, Y., and Mabuchi, K., 2012. An artificial finger robot motion control based on finger joint angle estimation from EMG signals for a robot prosthetic hand system. In: 2012 International Conference onAdvanced Mechatronic Systems, ICAMechS 2012. pp.109–111. 5. Arslan, Y.Z., Hacioglu, Y., and Yagiz, N., 2008. Prosthetic Hand Finger Control Using Fuzzy Sliding Modes. Journal of Intelligent and Robotic Systems: Theory and Applications, 52 (1), pp.121–138. 6. Bae, J.H., Park, S.W., Park, J.H., Baeg, M.H., Kim, D., and Oh, S.R., 2012. Development of a low cost anthropomorphic robot hand with high capability. In: IEEE International Conference on Intelligent Robots and Systems. pp.4776–4782. 7. Baniasad, M.A., Akbar, M., Alasty, A., and Farahmand, F., 2011. Fuzzy control of a hand rehabilitation robot to optimize the exercise speed in passive working mode. In: Studies in Health Technology and Informatics. pp.39–43. 8. Chen, C.-H. and Naidu, D.S., 2013. Hybrid control strategies for a five-finger robotic hand. Biomedical Signal Processing and Control, 8 (4), pp.382–390. 9. Chen, C.H., Naidu, D.S., Perez, A., and Schoen, M.P., 2008. Fusion of hard and soft control techniques for prosthetic hand. In: Proceedings of the IASTED International Conference on Intelligent Systems and Control. pp.120–125.141 10. Chen, F., Cannella, F., Canali, C., Hauptman, T., Sofia, G., and Caldwell, D., 2014. In-hand precise twisting and positioning by a novel dexterous robotic gripper for industrial highspeed assembly. Proceedings - IEEE International Conference on Robotics and Automation, pp.270–275. 11. Chen, G.H., Subbaram Naidu, D., Perez-Gracia, A., and Schoen, M.P., 2009. Hybrid control strategy for five-fingered smart prosthetic hand. In: Proceedings of the IEEE Conference on Decision and Control. pp.5102–5107. 12. Chen, Z., Lii, N.Y., Wimboeck, T., Fan, S., Jin, M., Borst, C.H., and Liu, H., 2010. Experimental study on impedance control for the five-finger dexterous robot hand DLR-HIT II. In: IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. pp.5867–5874. 13. Chivu, C., Chivu, C., and Georgescu, C., 2008. Design and fuzzy control of hand prosthesis or anthropomorphic robotic hand. WSEAS Transactions on Systems and Control, 3 (5), pp.333–342. 14. Choi, B., Lee, S., Choi, H.R., and Kang, S., 2006. Development of anthropomorphic robot hand with tactile sensor: SKKU hand II. In: IEEE International Conference on Intelligent Robots and Systems. pp.3779–3784. 15. Chuc, N.H., Park, J.K., Huu, N., Vuong, L., Kim, D., Koo, J.C., Lee, Y., Nam, J., Choi, H.R., and Vuong, N.H.L., 2009a. Multi-jointed robot finger driven by artificial muscle actuator. In: IEEE International Conference on Robotics and Automation. pp.587–592. 16. Chuc, N.H., Vuong, N.H.L., Kim, D., Koo, J.C., Choi, H.R., Lee, Y., and Nam, J. Do, 2009b. Design and control of multi-jointed robot finger based on artificial muscle actuator. In: IFAC Proceedings Volumes (IFAC-PapersOnline). pp.401–406. 17. Ciobanu, V. and Popescu, N., 2015. Tactile controller using fuzzy logic for robot inhand manipulation. In: 2015 19th International Conference on System Theory, Control and Computing, ICSTCC 2015 - Joint Conference SINTES 19, SACCS 15, SIMSIS 19. pp.435– 440.142 18. Elbayomy, K.M., Jiao, Z., and Zhang, H., 2008. PID controller optimization by GA and its performances on the electro-hydraulic servo control system. Chinese Journal of Aeronautics, 21 (4), pp.378–384. 19. Endo, T., Kawasaki, H., Mouri, T., Ishigure, Y., Shimomura, H., Matsumura, M., and Koketsu, K., 2011. Five-fingered haptic interface robot: HIRO III. IEEE Transactions on Haptics, 4 (1), pp.14–27. 20. Fabian, J., Monterrey, C., and Canahuire, R., 2017. Trajectory tracking control of a 3 DOF delta robot: A PD and LQR comparison. Proceedings of the 2016 IEEE 23rd International Congress on Electronics, Electrical Engineering and Computing, INTERCON 2016. 21. Fukui, W., Kobayashi, F., Kojima, F., Nakamoto, H., Maeda, T., Imamura, N., Sasabe, K., and Shirasawa, H., 2011. Fingertip force and position control using force sensor and tactile sensor for universal robot hand II. In: IEEE SSCI 2011: Symposium Series on Computational Intelligence - RIISS 2011: 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space. pp.43–48. 22. Hafiz, M., Liza, R., and Shauri, A., 2014. Finite Element Analysis of A Three-Fingered Robot Hand Design. 23. Hasbullah, F. and Faris, W.F., 2010. A comparative analysis of LQR and fuzzy logic controller for active suspension using half car model. 11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010, (December), pp.2415–2420. 24. Hirzinger, G., Butterfass, J., Fischer, M., Grebenstein, M., Hahnle, M., Liu, H., Schaefer, I., and Sporer, N., 2000. A mechatronics approach to the design of light-weight arms and multifingered hands. In: Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065). pp.46–54. 25. Huang, H., Jiang, L., Zhao, D.W., Zhao, J.D., Cai, H.G., Liu, H., Meusel, P., Willberg, B., and Hirzinger, G., 2006. The development on a new biomechatronic prosthetic hand based on under-actuated mechanism. In: IEEE International Conference on Intelligent Robots and143 Systems. pp.3791–3796. 26. Iwata, H. and Sugano, S., 2009. Design of human symbiotic robot TWENDY-ONE. In: Proceedings - IEEE International Conference on Robotics and Automation. pp.580–586. 27. Jaafar, J. and Shauri, R.L.A., 2013. Three-fingered robot hand for assembly works. In: Proceedings - 2013 IEEE 3rd International Conference on System Engineering and Technology, ICSET 2013. pp.237–241. 28. Jacobsen, S.C., Iversen, E.K., Knutti, D.F., Johnson, R.T., and Biggers, K.B., 1986. Design of the Utah M.I.T. Dextrous Hand. International Conference on Robotics and Automation, pp.1520–1532. 29. Jeong, H. and Cheong, J., 2011. Design of hybrid type robotic hand: The KU hybrid HAND. Control, Automation and Systems (ICCAS), pp.1113–1116. 30. Jeong, H. and Cheong, J., 2013. Design and Analysis of KU Hybrid Hand - Type II. 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 201, pp.580–583. 31. Jin, J., Zhang, W., Sun, Z., and Chen, Q., 2012. LISA Hand: Indirect self-adaptive robotic hand for robust grasping and simplicity. In: 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest. pp.2393–2398. 32. Jung, S.-Y., Kang, S., Lee, M., and Moon, I., 2007. Design of Robotic Hand with Tendondriven Three Fingers, pp.83–86. 33. Kappassov, Z., Khassanov, Y., Saudabayev, A., Shintemirov, A., and Varol, H.A., 2013. Semi-anthropomorphic 3D printed multigrasp hand for industrial and service robots. 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013, pp.1697–1702. 34. Kasim, M.K.M., Shauri, R.L.A., and Nasir, K., 2016. PID position control of three-fingered hand for different grasping styles. In: Proceedings - 2015 6th IEEE Control and System Graduate Research Colloquium, ICSGRC 2015. pp.7–10.144 35. Kawasaki, H., Komatsu, T., and Uchiyama, K., 2002. Dexterous anthropomorphic robot hand with distributed tactile sensor: Gifu hand II. IEEE/ASME Transactions on Mechatronics, 7 (3), pp.296–303. 36. Kazuko Shinohara, 2006. Robotics Research in Japan. National Science Foundation, pp.1– 15. 37. Khairudin, M., Mohamed, Z., and Husain, A.R., 2011. Dynamic Model and Robust Control of Flexible Link Robot Manipulator. Telkomnika, 9 (2), pp.279–287. 38. Khuzair, M., 2015. Pid Position Control of Three - Fingered Hand for Different Grasping Styles, pp.9–12. 39. Ko, J., Jun, M.B., Gilardi, G., Haslam, E., and Park, E.J., 2011. Fuzzy PWM-PID control of cocontracting antagonistic shape memory alloy muscle pairs in an artificial finger. Mechatronics, 21 (7), pp.1190–1202. 40. Kochan, A., 2005. Shadow delivers first hand. Industrial Robot: An International Journal, 32 (1), pp.15–16. 41. Le, X.T., Kim, W.G., Kim, B.C., Han, S.H., Ann, J.G., and Ha, Y.H., 2006. Design of a flexible multifingered robotics hand with 12 D. O. F and its control applications. In: 2006 SICE-ICASE International Joint Conference. pp.3461–3465. 42. Lee, J.W. and Kim, T.W., 2011. Design and experimental analysis of embedded servo motor driver for robot finger joints. URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, pp.548–551. 43. Li, Y., Ang, K.H., and Chong, G.C.Y., 2006. PID control system analysis and design. IEEE Control Systems, 26 (1), pp.32–41. Maghfiroh, H., Ataka, A., Wahyunggoro, O., and Cahyadi, a. I., 2013. Optimal energy control of DC Motor speed control: Comparative study. 2013 International Conference on Computer, Control, Informatics and Its Applications (IC3INA), (NOVEMBER 2013), pp.89–93.145 44. Mizuno, T., Tsujiuchi, N., Koizumi, T., Nakamura, Y., and Sugiura, M., 2011. Springdamper model and articulation control of pneumatic artificial muscle actuators. 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011, pp.1267–1272. 45. Mouri, T. and Kawasaki, H., 2007. A Novel Anthropomorphic Robot Hand and its Master Slave System. Itech, (June), pp.3474–3479. 46. Murray, R.M., 2006. LQR control. Control and Dynamical Systems, pp.1–14. 47. Nagase, J.-Y., Saga, N., Satoh, T., and Suzumori, K., 2011. Development and control of a multifingered robotic hand using a pneumatic tendon-driven actuator. Journal of Intelligent Material Systems and Structures, 23 (3), pp.345–352. 48. Naidu, D.S., Chen, C.-H., Perez, A., and Schoen, M.P., 2008. Control strategies for smart prosthetic hand technology: An overview. In: 2008 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society. pp.4314–4317. 49. Namiki, a., Imai, Y., Ishikawa, M., and Kaneko, M., 2003. Development of a high-speed multifingered hand system and its application to catching. Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453), 3, pp.2666–2671. 50. Nise, N.S., 2011. Control Systems Engineering. 51. Nishino, S., Tsujiuchi, N., Koizumi, T., Komatsubara, H., Kudawara, T., and Shimizu, M., 2007. Development of robot hand with pneumatic actuator and construct of master-slave system. Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings, 1, pp.3027–3030. 52. Nuchkrua, T., Leephakpreeda, T., and Mekarporn, T., 2013. Development of robot hand with Pneumatic Artificial Muscle for rehabilitation application. Nano/Molecular Medicine and Engineering (NANOMED), 2013 IEEE 7th International Conference on, pp.55–58. 53. Ohol, S.S., Karade, S., and Kajale, S.R., 2010. Optimization of four finger robotic Hand using FEA. In: International Journal of Technology, Knowledge and Society. pp.187–201.146 54. Pavankumar, S.V.S.R., Krishnaveni, S., Venugopal, Y.B., and Babu, Y.S.K., 2010. A Neuro-Fuzzy based speed control of separately excited DC motor. In: Proceedings - 2010 International Conference on Computational Intelligence and Communication Networks, CICN 2010. pp.93–98. 55. Polotto, A., Modulo, F., Flumian, F., Xiao, Z.G., Boscariol, P., and Menon, C., 2012. Index finger rehabilitation/assistive device. In: Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics. pp.1518–1523. 56. Pons, J.L., Rocon, E., Ceres, R., Reynaerts, D., Saro, B., Levin, S., and Van Moorleghem, W., 2004. The MANUS-HAND Dextrous Robotics Upper Limb Prosthesis: Mechanical and Manipulation Aspects. Autonomous Robots, 16 (2), pp.143–163. 57. Saggio, G. and Bizzarri, M., 2014. Feasibility of teleoperations with multi-fingered robotic hand for safe extravehicular manipulations. Aerospace Science and Technology, 39, pp.666– 674. 58. Schuurmans, J., Van Der Linde, R.Q., Plettenburg, D.H., and Van Der Helm, F.C.T., 2007. Grasp force optimization in the design of an underactuated robotic hand. In: 2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR’07. pp.776–782. 59. Sellers, D., 2007. An Overview of Proportional plus Integral plus Derivative Control and Suggestions for Its Successful Application and Implementation. Energy Systems Laboratory. 60. Shahrokhi, M. and Zomorrodi, A., 2002. Comparison of PID Controller Tuning Methods. Proc. of the 8th National Iranian Chemical Engineering Congress, pp.1–12. 61. Shauri, R.L.A., Remeli, N.H., Jani, S.A.M., and Jaafar, J., 2014a. Development of 7-DOF three-fingered robotic hand for industrial work. Proceedings - 4th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2014, (November), pp.75–79. 62. Shauri, R.L.A., Salleh, N.M., and Hadi, A.K.A., 2014b. PID position control of 7-DOF three-fingered robotic hand for grasping task. Proceedings - 4th IEEE International147 Conference on Control System, Computing and Engineering, ICCSCE 2014, (November), pp.70–74. 63. Sonoda, T. and Godler, I., 2011. Position and force control of a robotic finger with twisted strings actuation. In: IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. pp.611–616. 64. Talib, M.A.A., Khamarazaman, A.S., Salimun, M.Y., Jaafar, J., and Shauri, R.L.A., 2013. PID position control for 2-DOF robotic finger. In: Proceedings - 2013 IEEE 4th Control and System Graduate Research Colloquium, ICSGRC 2013. pp.152–157. 65. Thayer, N. and Priya, S., 2011. Design and implementation of a dexterous anthropomorphic robotic typing (DART) hand. Smart Materials and Structures, 20 (3), pp.35010. 66. Tian, L. and Collins, C., 2004. A dynamic recurrent neural network-based controller for a rigid-flexible manipulator system. Mechatronics, 14 (5), pp.471–490. 67. Townsend, W., 2000. The BarrettHand grasper – programmably flexible part handling and assembly. Industrial Robot: An International Journal, 27, pp.181–188. 68. Wang, H., Huang, X., Qi, X., and Meng, Q., 2007. Development of underwater robot hand and its finger tracking control. In: Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2007. pp.2973–2977. 69. Wang, L., Chai, T., and Zhai, L., 2009. Neural-network-based terminal sliding-mode control of robotic manipulators including actuator dynamics. IEEE Transactions on Industrial Electronics, 56 (9), pp.3296–3304. 70. Wu, J., Huang, J., Wang, Y., Xing, K., and Xu, Q., 2009. Fuzzy PID control of a wearable rehabilitation robotic hand driven by pneumatic muscles. In: 20th Anniversary MHS 2009 and Micro-Nano Global COE - 2009 International Symposium on Micro-NanoMechatronics and Human Science. pp.408–413. 71. Xu, Z., Kumar, V., and Todorov, E., 2015. A low-cost and modular, 20-DOF anthropomorphic robotic hand: Design, actuation and modeling. In: IEEE-RAS International Conference on Humanoid Robots. pp.368–375. 72. Yamano, I., Takemura, K., and Maeno, T., 2003. Development of a robot finger for fivefingered hand using ultrasonic motors. Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453), 3 (October), pp.2648–2653. 73. Yoshikawa, T., 2010. Multifingered robot hands: Control for grasping and manipulation. Annual Reviews in Control, 34 (2), pp.199–208. 74. Zaid, A.M. and Yaqub, M.A., 2012. UTHM HAND: Kinematics behind the dexterous anthropomorphic robotic hand. In: Communications in Computer and Information Science. pp.119–127. 75. Zecca, M., Micera, S., Carrozza, M.C., and Dario, P., 2002. Control of Multifunctional Prosthetic Hands by Processing the Electromyographic Signal. Critical Reviews in Biomedical Engineering, 30 (4–6), pp.459–485. 76. Zhang, T., Wang, X.Q., Jiang, L., Wu, X., Feng, W., Zhou, D., and Liu, H., 2016. Biomechatronic design and control of an anthropomorphic artificial hand for prosthetic applications. Robotica, 34 (10), pp.2291–2308. 77. Zhang, X., Gouda, Y., Koyama, D., Nakamura, K., and Ueha, S., 2008. A basic design of robot finger joint using multi-degree-of-freedom ultrasonic motor. Acoustical Science and Technology, 29 (3), pp.235–237. 78. Zhao, H. and Li, L., 2010. Sliding mode control on the position for a multifingered hand. In: ICCSE 2010 - 5th International Conference on Computer Science and Education, Final Program and Book of Abstracts. pp.1287–1290

Optimal design and positioning control performance of a 2-DOF robotic finger

Similar Items