Title :
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
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;
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
DOI :
10.1109/ICEEE.2012.6421137
