What is it about?
In this paper, we discussed the control methods applied on systems actuated by pneumatic muscles. We tested three different controllers and verified the results on our uniquely designed ambidextrous robotic hand structure. Performances of all three control methods namely proportional–integral-derivative control (PID), Bang-bang control and Back stepping control has been compared and best controller is proposed.
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Why is it important?
For the very first time, we have validated the possibility of controlling multi finger ambidextrous robot hand by using Back stepping Control.
Perspectives
Three different controllers namely PID, Bang-bang and BSC are tested and their performance in controlling an ambidextrous robotic hand is analyzed in great detail. PID controller was found the best when applied as compare to Bang-bang and Backstepping control. Backstepping control technique was validated for the first time on an ambidextrous robot hand. By combining PID controllers and force sensors, this research proposes one of the cheapest solutions possible. In future, PID controller could be used with artificial intelligent controllers to further improve the controls.
Mr Mashood Mukhtar
Brunel University
Read the Original
This page is a summary of: Control of 3D printed ambidextrous robot hand actuated by pneumatic artificial muscles, November 2015, Institute of Electrical & Electronics Engineers (IEEE),
DOI: 10.1109/intellisys.2015.7361158.
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