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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
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
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Index Terms

Computer Science
Information Sciences

Keywords

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