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Modeling and control of compact anthropomorphic robot finger

Zainul Azlan, Norsinnira and Yamaura, Hiroshi (2011) Modeling and control of compact anthropomorphic robot finger. In: International Conference on Modelling, Identification and Control, 26th-29th June, 2011, Shanghai, China.

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This paper presents the development of the mathematical model and controller of a light weight and small size robot finger. The finger possesses self adaptive grasping capability and is made of seven bar linkages with a slider or lead screw mechanism in the middle phalanx to adjust its effective length in realizing both pinching and grasping tasks. The dynamic model of the linkages is integrated with the electrical motors mathematical description to represent the whole robotic system. Numerical simulations have been carried out to study the finger’s dynamic behaviour under the Proportional Integral Derivative (PID) control.

Item Type: Conference or Workshop Item (Full Paper)
Additional Information: 4494/47727 (ISBN: 9780956715708)
Uncontrolled Keywords: Anthropomorphic robots, End effectors, Lead screws, Mathematical models, Modular robots, Proportional control systems, Robotic arms
Subjects: T Technology > TJ Mechanical engineering and machinery
T Technology > TK Electrical engineering. Electronics Nuclear engineering
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button): Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User: Norsinnira Zainul Azlan
Date Deposited: 22 Mar 2016 09:32
Last Modified: 22 Mar 2016 09:32
URI: http://irep.iium.edu.my/id/eprint/47727

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