Notification: Our email services are now fully restored after a brief, temporary outage caused by a denial-of-service (DoS) attack. If you sent an email on Dec 6 and haven't received a response, please resend your email.
CFP last date
20 December 2024
Call for Paper
January Edition
IJCA solicits high quality original research papers for the upcoming January edition of the journal. The last date of research paper submission is 20 December 2024

Submit your paper
Know more
The week's pick
Responsive image
SFLA-Based Line Balancing and Task Optimization in Master-Slave Controlled Hanger Transportation Systems for Garment Production

Duc Hoang Nguyen
Random Articles
Reseach Article

Motion Control Strategies based on PD Control for a Four Degree-of-Freedom Serial Robotic Manipulator to Mimic Human Index Finger Articulations

by Abhijit Mahapatra, Kaustav Biswas, Amit Kumar, Avik Chatterjee
journal cover thumbnail

International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Volume 109 - Number 13
Year of Publication: 2015
Authors: Abhijit Mahapatra, Kaustav Biswas, Amit Kumar, Avik Chatterjee
10.5120/19252-0949

Abhijit Mahapatra, Kaustav Biswas, Amit Kumar, Avik Chatterjee . Motion Control Strategies based on PD Control for a Four Degree-of-Freedom Serial Robotic Manipulator to Mimic Human Index Finger Articulations. International Journal of Computer Applications. 109, 13 ( January 2015), 35-42. DOI=10.5120/19252-0949

@article{ 10.5120/19252-0949,
author = { Abhijit Mahapatra, Kaustav Biswas, Amit Kumar, Avik Chatterjee },
title = { Motion Control Strategies based on PD Control for a Four Degree-of-Freedom Serial Robotic Manipulator to Mimic Human Index Finger Articulations },
journal = { International Journal of Computer Applications },
issue_date = { January 2015 },
volume = { 109 },
number = { 13 },
month = { January },
year = { 2015 },
issn = { 0975-8887 },
pages = { 35-42 },
numpages = {9},
url = { https://ijcaonline.org/archives/volume109/number13/19252-0949/ },
doi = { 10.5120/19252-0949 },
publisher = {Foundation of Computer Science (FCS), NY, USA},
address = {New York, USA}
}
%0 Journal Article
%1 2024-02-06T22:44:44.970735+05:30
%A Abhijit Mahapatra
%A Kaustav Biswas
%A Amit Kumar
%A Avik Chatterjee
%T Motion Control Strategies based on PD Control for a Four Degree-of-Freedom Serial Robotic Manipulator to Mimic Human Index Finger Articulations
%J International Journal of Computer Applications
%@ 0975-8887
%V 109
%N 13
%P 35-42
%D 2015
%I Foundation of Computer Science (FCS), NY, USA
Abstract

The present study is based on motion control of an articulated model of a human index finger that has been modeled as a four-degree-of-freedom serial robotic manipulator. Preliminary studies on position and tracking control have been carried out by testing various control strategies based on proportional-derivative (PD) control in a simulation environment wherein the manipulator has been modeled and simulated with a certain input signal and responses to various controllers have been shown. Model free and model based controllers have been designed simulated using MATLAB®/ Simulink®. Strategies like model free PD control have been improved upon by introducing auto-tuning and learning capabilities. A virtual plant modeled using Simmechanics® toolbox has been set up and used for simulation purposes.

References
  1. Mittal, R. K. , Nagrath, I. J. , 2003, Robotics and Control, Tata Mc-Graw Hill Publishing Company Limited.
  2. Lewis, F. L. , Dawson, D. M. , Abdullah, C. T. , 1993, Robot Manipulator Control: Theory and Practice, Macmillan Pub. Co.
  3. Craig, J. J. , 1988, Adaptive Control of Mechanical Manipulators, Addison-Wesley.
  4. Ouyang, P. R. and Zhang, W. J. , 2004, "Comparison of PD-based Controllers for robotic Manipulators", Proceedings of the ASME Design Engineering Technical Conference.
  5. Ouyang, P. R, Zhang, W. J and M. M. Gupta, 2004, "Adaptive nonlinear PD Learning Control of Robotic Manipulators", Proceedings of the ASME Design Engineering Technical Conference.
  6. Paden, B. and Panja R. , 1988, "Globally asymptotically stable PD+ Controller for robot manipulators", International Journal of Control, Vol. 47, No. 6, pg. 1697-1712.
  7. An, C. H. , Atkeson, C. G. , Griffiths, J. D. , Hollerbach, J. M. , 1989, "Experimental Evaluation of feedforward and computed torque control", IEEE Transactions on Robotics and Automation, Vol. 5, Issue 3.
  8. Khosla P. K. and Kanade, T. , 1988, "Experimental Evaluation of Nonlinear Feedback and Feedforward Control Schemes for Manipulators", The International Journal of Robotics Research, Vol. 7, No. 1, pg. 18-28.
  9. Santibanez, V. and Kelly, R. , 2001, "PD control with feedforward compensation for robot manipulators: analysis and experimentation", Robotica, Cambridge University Press, Vol. 19, Issue 1, pg. 11-19.
  10. Dung, L. T. , Kang, H. and Ro, Y. , 2010, "Robot Manipulator Modelling in Matlab-Simmechanics with PD control and online Gravity Compensation", IFOST 2010 Proceedings.
  11. De Luca, A. , Siciliano, B. and Zollo, L. , 2005, "PD control with on-line gravity compensation for robots with elastic joints: Theory and Experiments", Automatica 41, Elsevier, pg. 1809-1819.
  12. Middleton, R. H. and Goodwin, G. C. , 1988, "Adaptive computed torque control for rigid link manipulators", Systems and control Letters, Elsevier, Vol. 10, Issue 1, pg. 9-16.
  13. MATLAB Simmechanics Documentation and User Guide. (http://www. mathworks. in/help/physmod/sm/).
Index Terms

Computer Science
Information Sciences

Keywords

PD Control Feed-forward Control Computed Torque Control Human Index Finger Simmechanics

Powered by PhDFocusTM