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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10.5120/19252-0949 |
Abhijit Mahapatra, Kaustav Biswas, Amit Kumar and Avik Chatterjee. Article: 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):35-42, January 2015. Full text available. BibTeX
@article{key:article,
author = {Abhijit Mahapatra and Kaustav Biswas and Amit Kumar and Avik Chatterjee},
title = {Article: 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},
month = {January},
note = {Full text available}
}
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.
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