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Title: Implementation of PID, bang-bang and backstep-ping controllers on 3D printed ambidextrous robot hand
Authors: Kalganova, T
Mukhtar, M
Akyürek, E
Lesne, N
Issue Date: 2016
Publisher: Springer Book Series
Citation: Springer Book Series - Studies in Computational Intelligence, 650: pp. 173-194, (2016)
Abstract: Robot hands have attracted increasing research interest in recent years due to their high demand in industry and wide scope in number of applications. Almost all researches done on the robot hands were aimed at improving mechanical design, clever grasping at different angles, lifting and sensing of different objects. In this chapter, we presented the detail classification of control systems and reviewed the related work that has been done in the past. In particular, our focus was on control algorithms implemented on pneumatic systems using PID controller, Bang-bang controller and Backstepping controller. These controllers were tested on our uniquely designed ambidextrous robotic hand structure and results were compared to find the best controller to drive such devices. The five finger ambidextrous robot hand offers total of 13 degrees of freedom (DOFs) and it can bend its fingers in both ways left and right offering full ambidextrous functionality by using only 18 pneumatic artificial muscles (PAMs).
ISSN: 1860-949X
Appears in Collections:Dept of Electronic and Computer Engineering Research Papers

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