Development Of Controller For Wireless Robotics Hand In Hazardous Environment

Khoo, Hui Yee (2015) Development Of Controller For Wireless Robotics Hand In Hazardous Environment. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

Hazardous environments such as in industry sector and high chemical area give high risks to the safety of worker. This risk can be reduced by designing a robotics hand that able to replace the human works. For industry purpose, the robotics hand that developed needs to have a higher performance in accuracy, stability and consistency. However, the current robotics hand in industry is not flexible which mean that it can’t be used for different tasks. Therefore, a multi-purpose robotics hand was developed by previous student. But, the performance for current wireless robotics hand is not yet tested and this cause that the performance is not optimized in term of stability and flexibility. Main objective of this project is to design and develop a controller for improving the system performance of wireless robotics hand. However, the current robotics hand is in open loop system. Because of that, the micro servo used need to change to DC geared motor with encoder so that it able to feedback if there not a desired angle. There are three experiments in this project which is controller performance, actuator performance and sensor performance. The flex sensors that mounted on the data glove are used to measure the finger flexion. For sensor performance test, to obtain the accurate flexion of finger, the flex sensors are tested by using ten different values of input voltage which is 0.5V until 5.0V. The values of output voltage for 0°, 30°, 60° and 90° are collected. The data obtained will be plotted by using ORIGIN software. From the graph obtained, it can conclude that a higher value of input voltage which is more than 5.0V is needed so that the time taken to reach the desired angle is shorter. For actuator performance test, it divided into two part which is open loop system and closed loop system. For open loop system, the transfer function is obtained by using Random White Noise method and System Identification Tools. A transfer function is carried out. Closed loop system used to compare the response between the real time systems with the mathematical model. For controller performance test, PID controller is design and tested. The results obtained from PID controller is compared with closed loop system. As a conclusion, it prove that PID controller is suitable to use in robotics hand

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