Active compliance control strategies for multifingered robot hand

Safety issues have to be enhanced when the robot hand is grasping objects of different shapes, sizes and stiffness. The inability to control the grasping force and finger stiffness can lead to unsafe grasping environment. Although many researches have been conducted to resolve the grasping issues...

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Main Author:	Sadun, Amirul Shafiq
Format:	Thesis
Language:	English English English
Published:	2018
Subjects:	TJ212-225 Control engineering systems Automatic machinery (General)
Online Access:	http://eprints.uthm.edu.my/160/1/24p%20AMIRUL%20SYAFIQ%20SADUN.pdf http://eprints.uthm.edu.my/160/2/AMIRUL%20SYAFIQ%20SADUN%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/160/3/AMIRUL%20SYAFIQ%20%20SADUN%20WATERMARK.pdf
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id	my-uthm-ep.160
record_format	uketd_dc
spelling	my-uthm-ep.1602021-07-06T07:23:36Z Active compliance control strategies for multifingered robot hand 2018-08 Sadun, Amirul Shafiq TJ212-225 Control engineering systems. Automatic machinery (General) Safety issues have to be enhanced when the robot hand is grasping objects of different shapes, sizes and stiffness. The inability to control the grasping force and finger stiffness can lead to unsafe grasping environment. Although many researches have been conducted to resolve the grasping issues, particularly for the object with different shape, size and stiffness, the grasping control still requires further improvement. Hence, the primary aim of this work is to assess and improve the safety of the robot hand. One of the methods that allows a safe grasping is by employing an active compliance control via the force and impedance control. The implementation of force control considers the proportional–integral–derivative (PID) controller. Meanwhile, the implementation of impedance control employs the integral slidingmode controller (ISMC) and adaptive controller. A series of experiments and simulations is used to demonstrate the fundamental principles of robot grasping. Objects with different shape, size and stiffness are tested using a 3-Finger Adaptive Robot Gripper. The work introduces the Modbus remote terminal unit [RTU] protocol, a low-cost force sensor and the Arduino IO Package for a real-time hardware setup. It is found that, the results of the force control via PID controller are feasible to maintain the grasped object at certain positions, depending on the desired grasping force (i.e., 1N and 8N). Meanwhile, the implementation of impedance control via ISMC and adaptive controller yields multiple stiffness levels for the robot fingers and able to reduce collision between the fingers and the object. However, it was found that the adaptive controller produces better impedance control results as compared to the ISMC, with a 33% efficiency improvement. This work lays important foundations for long-term related research, particularly in the field of active compliance control that can be beneficial to human–robot interaction (HRI). 2018-08 Thesis http://eprints.uthm.edu.my/160/ http://eprints.uthm.edu.my/160/1/24p%20AMIRUL%20SYAFIQ%20SADUN.pdf text en public http://eprints.uthm.edu.my/160/2/AMIRUL%20SYAFIQ%20SADUN%20COPYRIGHT%20DECLARATION.pdf text en staffonly http://eprints.uthm.edu.my/160/3/AMIRUL%20SYAFIQ%20%20SADUN%20WATERMARK.pdf text en validuser phd doctoral Universiti Tun Hussein Onn Malaysia Fakulti Teknologi Kejuruteraan
institution	Universiti Tun Hussein Onn Malaysia
collection	UTHM Institutional Repository
language	English English English
topic	TJ212-225 Control engineering systems Automatic machinery (General)
spellingShingle	TJ212-225 Control engineering systems Automatic machinery (General) Sadun, Amirul Shafiq Active compliance control strategies for multifingered robot hand
description	Safety issues have to be enhanced when the robot hand is grasping objects of different shapes, sizes and stiffness. The inability to control the grasping force and finger stiffness can lead to unsafe grasping environment. Although many researches have been conducted to resolve the grasping issues, particularly for the object with different shape, size and stiffness, the grasping control still requires further improvement. Hence, the primary aim of this work is to assess and improve the safety of the robot hand. One of the methods that allows a safe grasping is by employing an active compliance control via the force and impedance control. The implementation of force control considers the proportional–integral–derivative (PID) controller. Meanwhile, the implementation of impedance control employs the integral slidingmode controller (ISMC) and adaptive controller. A series of experiments and simulations is used to demonstrate the fundamental principles of robot grasping. Objects with different shape, size and stiffness are tested using a 3-Finger Adaptive Robot Gripper. The work introduces the Modbus remote terminal unit [RTU] protocol, a low-cost force sensor and the Arduino IO Package for a real-time hardware setup. It is found that, the results of the force control via PID controller are feasible to maintain the grasped object at certain positions, depending on the desired grasping force (i.e., 1N and 8N). Meanwhile, the implementation of impedance control via ISMC and adaptive controller yields multiple stiffness levels for the robot fingers and able to reduce collision between the fingers and the object. However, it was found that the adaptive controller produces better impedance control results as compared to the ISMC, with a 33% efficiency improvement. This work lays important foundations for long-term related research, particularly in the field of active compliance control that can be beneficial to human–robot interaction (HRI).
format	Thesis
qualification_name	Doctor of Philosophy (PhD.)
qualification_level	Doctorate
author	Sadun, Amirul Shafiq
author_facet	Sadun, Amirul Shafiq
author_sort	Sadun, Amirul Shafiq
title	Active compliance control strategies for multifingered robot hand
title_short	Active compliance control strategies for multifingered robot hand
title_full	Active compliance control strategies for multifingered robot hand
title_fullStr	Active compliance control strategies for multifingered robot hand
title_full_unstemmed	Active compliance control strategies for multifingered robot hand
title_sort	active compliance control strategies for multifingered robot hand
granting_institution	Universiti Tun Hussein Onn Malaysia
granting_department	Fakulti Teknologi Kejuruteraan
publishDate	2018
url	http://eprints.uthm.edu.my/160/1/24p%20AMIRUL%20SYAFIQ%20SADUN.pdf http://eprints.uthm.edu.my/160/2/AMIRUL%20SYAFIQ%20SADUN%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/160/3/AMIRUL%20SYAFIQ%20%20SADUN%20WATERMARK.pdf
_version_	1747830543268970496

Active compliance control strategies for multifingered robot hand

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