Research Article
Motion Control Strategies based on PD Control for a Four Degree-of-Freedom Serial Robotic Manipulator to Mimic Human Index Finger Articulations
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International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
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| Volume 109 - Issue 13 |
| Published: January 2015 |
| Authors: Abhijit Mahapatra, Kaustav Biswas, Amit Kumar, Avik Chatterjee |
10.5120/19252-0949
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Abhijit Mahapatra, Kaustav Biswas, Amit Kumar, Avik Chatterjee . Motion Control Strategies based on PD Control for a Four Degree-of-Freedom Serial Robotic Manipulator to Mimic Human Index Finger Articulations. International Journal of Computer Applications. 109, 13 (January 2015), 35-42. DOI=10.5120/19252-0949
@article{ 10.5120/19252-0949,
author = { Abhijit Mahapatra,Kaustav Biswas,Amit Kumar,Avik Chatterjee },
title = { Motion Control Strategies based on PD Control for a Four Degree-of-Freedom Serial Robotic Manipulator to Mimic Human Index Finger Articulations },
journal = { International Journal of Computer Applications },
year = { 2015 },
volume = { 109 },
number = { 13 },
pages = { 35-42 },
doi = { 10.5120/19252-0949 },
publisher = { Foundation of Computer Science (FCS), NY, USA }
}
%0 Journal Article
%D 2015
%A Abhijit Mahapatra
%A Kaustav Biswas
%A Amit Kumar
%A Avik Chatterjee
%T Motion Control Strategies based on PD Control for a Four Degree-of-Freedom Serial Robotic Manipulator to Mimic Human Index Finger Articulations%T
%J International Journal of Computer Applications
%V 109
%N 13
%P 35-42
%R 10.5120/19252-0949
%I Foundation of Computer Science (FCS), NY, USA
Abstract
The present study is based on motion control of an articulated model of a human index finger that has been modeled as a four-degree-of-freedom serial robotic manipulator. Preliminary studies on position and tracking control have been carried out by testing various control strategies based on proportional-derivative (PD) control in a simulation environment wherein the manipulator has been modeled and simulated with a certain input signal and responses to various controllers have been shown. Model free and model based controllers have been designed simulated using MATLAB®/ Simulink®. Strategies like model free PD control have been improved upon by introducing auto-tuning and learning capabilities. A virtual plant modeled using Simmechanics® toolbox has been set up and used for simulation purposes.
References
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