Grasping motion control of a robotic hand mechanism

Abd Wahab, Mohd Syafiq (2019) Grasping motion control of a robotic hand mechanism. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

Robotic hand is a type of mechanical hand with similar function to human hands which utilizing an actuator to obtain the force for providing motion, action and position. The robotic hand is needed due to the working environment, the task or dangerous application which the executor in the edge of death. In additionally the robot are faster more precise and their speed is steady as well. This paper presents a survey on the previous and current research on controlling the motion for grasping manipulation by robotic hand. There are difficult task to design the controller for grasping motion control in order to obtain high precision control in term of its performance. Furthermore without the controller, the robotic hand will not be able to grasping with desired performance. Therefore, the objective of the project is to design the controller for grasping motion control of robotic hand and compare the controller performance between simulation and experiment method. The experiment will be conducted by using Micro-Box 2000/2000C that will act as interface between MATLAB Simulink and Robotic Hand. The open loop test with load will be the initial test in order to provide the suitable plant for the finger of the robotic hand with System Identification Tools which the transfer function will be determined. Then uncompensated closed loop system was developed using a plant transfer function to provide a feedback to the input for improving the system performance. After that a Proportional-Integral-Derivative (PID) controller was designed based on the uncompensated closed loop system designed to further improve the overall system performance of the robotic hand. Lastly, the comparison between the performance of real time simulation and real time experiments from the Micro-Box was done. The result shows that the performance of the grasping motion control depend on the tuning controller.

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