Efficiency Of Different Control Strategies In A
Force-feedback Gripper
Author(s)
O. B. Lőrinczi, T. Szalay & P. Aradi
Abstract
This paper aims to introduce the development of a control system implemented
for a force-feedback gripper mechanism, as well as the results of the experiments
carried out on the device. The achievements shall be used in additional research
related to medical purpose grippers, such as artificial hands. The aim of the
current research is the improvement of the control system of artificial hands in
order to assure the expected usability in the case of a simplified mechanical
structure, and eventually to decrease the manufacturing cost of such devices to
gain higher availability. First, the main units of the experimental device will be
described. After the clarification of the basics, the applied control strategies shall
be discussed in detail. From the basic PI/PID control, to adaptive fuzzy/neurofuzzy
control, different methods are applied also on the simulation model and the
experimental device itself. The main results of the research are the summary of
differences between the particular control strategies. The properties of the
controls, like speed, stability, accuracy and adaptivity are determined and a
comparative analysis have been expounded. From the achieved results, the
overall efficiency of the different control strategies can be determined, the type
and properties of the optimal control can be described. Finally the aspects of
further development will be discussed; on one hand, that means the design and
production of a new, more complex mechanism; and on the other hand, the
feedback of more state variables in order to gain more information for better
function. Hopefully a complete five-finger gripper will be manufactured in the
near future, and by the time it will be available, the results of this study can be
utilized for its control system.
Keywords: biomechatronics, sensor technologies, force-feedback grasping.
Budapest University of Technology and Economics, Hungary
Keywords
Keywords: biomechatronics, sensor technologies, force-feedback grasping.
Related Book
Other papers in this volume
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