Development Of A Point-To-Point (PTP) Positioning Controller For A Robotic Hand

Yeo, Chin Kiat (2016) Development Of A Point-To-Point (PTP) Positioning Controller For A Robotic Hand. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

The point-to-point (PTP) positioning system of a underactuated hand is a difficult and challenges task in order to control their system performance since the point-to-point positioning for the robotic hands must able to move in high precision with fast response. The underactuated hand is where a robotic hand which the finger of the robotic hand is control via a string or wire with the use of single actuator for each finger. This thesis presents the development of the control system for a 3-DOF for Finger 5 of the robotic hand by using the Micro-Box 2000/2000C interfacing and the Proportional-Integral-Derivative (PID) technique. The characteristic equation of the robotic finger is obtain by using the System Identification Tools which is represented by . PID controller is designed by using Matlab Simulink to improve the performance of the robotic finger. The PID controller is designed by using Ziegler-Nichols Tuning method and trial and error tuning method. The designed PID controller are implemented and the results for uncompensated closed-loop system are compared with the PID controller. The designed PID controller has the parameters of Proportional gain of 289.8, Integral gain of 0 and Derivative gain of 5. When the input reference of 15° is compared for experimental result, the proposed PID controller shows improvement in rise time from 0.728s to 0.114s, settling time from 1.042s to 0.204s, and steady-state error of 8.111° is eliminated. However, the percentage of overshoot increase from 0% to 0.74% and the overshoot occurred due to the backlash of the mechanical part. Meanwhile, the designed PID controller shows the improvement in simulation result in term of rise time from 2.091s to 0.079s, settling time from 7.246s to 0.200s, steady-state error from 0.023° to 0.0001° and percentage of overshoot remain as 0%. However, the PID controller do not show a good performance in term of controller robustness where the PID controller is hard to track for the reference signal when the angle and frequency is too large. Hence, the designed PID controller shows that the controller has better performance for Point-to-Point Positioning control where the robotic finger can reach the desired position with no error while the PID controller cannot perform well in term of controller's robustness for tracking control.

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