Design and control of a robot with two fingers

Author

Mendez-Salas, V.H. ; Oliver-Salazar, M.A. ; Szwedowicz-Wasik, D. ; Silva-Navarro, G.

Author_Institution

Dept. de Maestria en Ing. Mec., Centro Nac. de Investig. y Desarrollo Tecnol., Cuernavaca, Mexico

fYear

2012

fDate

26-28 Sept. 2012

Firstpage

1

Lastpage

5

Abstract

The design, construction, integration, control and experimental tests for a two-finger robot hand driven by pneumatic muscles is presented. Each finger has four degrees of freedom (DOF) and is actuated with eight muscles working in antagonism (16 muscles in total). For control purposes discrete-time PID controllers are synthesized to control the angular positions for each finger, which are then embedded into a Digital Signal Controller (DSC). Several experimental tests show the good operation of the robot hand.

Keywords

control engineering computing; control system synthesis; dexterous manipulators; digital signal processing chips; discrete time systems; manipulator kinematics; mechanical engineering computing; microcontrollers; pneumatic actuators; position control; three-term control; DSC; angular position control; antagonism; construction tests; control tests; design tests; digital signal controller; discrete-time PID controller synthesis; experimental tests; integration tests; pneumatic actuators; pneumatic muscles;; robot kinematics; two-finger robot hand; Joints; Muscles; Pneumatic systems; Robot sensing systems; Thumb; Pneumatic muscles; angular position; digital control; robot control; robot kinematics;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical Engineering, Computing Science and Automatic Control (CCE), 2012 9th International Conference on

Conference_Location

Mexico City

Print_ISBN

978-1-4673-2170-9

Type

conf

DOI

10.1109/ICEEE.2012.6421137

Filename

6421137