Paper Info
Title
Underactuated fingers controlled by robust and adaptive trajectory following methods
Abstract
Choosing an appropriate control scheme to alleviate nonlinearities and uncertainties is not a trivial task, especially when models are not easily available and practical evaluation provides the only means for actual performance assessment. Various factors can contribute to these nonlinearities and uncertainties, such as friction and stiction. Thus, this article investigates four different control schemes, namely PID, adaptive, conventional sliding mode control SMC and integral sliding mode control ISMC which are implemented in the Bristol Elumotion Robot Hand BERUL to analyse and overcome the aforementioned problems. The hand has five fingers with 16 joints and all fingers are underactuated. The implementation of the proposed control schemes are challenging since the BERUL fingers have significant friction, stiction and unknown parameters. The fingers are light in weight and fragile. Comparative performance characteristics have shown that the ISMC is the most suitable candidate to provide good experimental trajectory following and positioning control for underactuated BERUL fingers.
Year
DOI
Venue
2014
10.1080/00207721.2012.687866
Int. J. Systems Science
Keywords
Field
DocType
mode control smc,comparative performance characteristic,mode control ismc,different control scheme,underactuated berul finger,positioning control,adaptive trajectory,appropriate control scheme,underactuated finger,proposed control scheme,actual performance assessment,berul finger,pid control,sliding mode control,adaptive control
Integral sliding mode,PID controller,Control theory,Control engineering,Adaptive control,Stiction,Underactuation,Trajectory,Mathematics,All fingers,Sliding mode control
Journal
Volume
Issue
ISSN
45
2
0020-7721
Citations 
PageRank 
References 
3
0.43
13
Authors
3
Name
Order
Citations
PageRank
Jamaludin Jalani183.30
Guido Herrmann2323.89
C. Melhuish330.43