Robust active compliance control for a robot hand

This project deals with safety issues in human-robot interaction. A particular focus of this project is on a humanoid robot hand which requires (physical) safety to interact with objects/humans. A robust and active compliance control is proposed via an Integral Sliding Mode Controller (ISMC) to achi...

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Bibliographic Details
Main Author:	Jalani , Jamaludin
Format:	Thesis
Published:	2013
Subjects:	TJ210.2-211 Mechanical devices and figures. Automata. Ingenious mechanisms.
Online Access:	http://eprints.uthm.edu.my/4638/ http://eprints.uthm.edu.my/4638/1/Jamaludin_Jalani.pdf

id	uthm-4638
recordtype	eprints
spelling	uthm-46382013-12-24T00:57:52Z Robust active compliance control for a robot hand Jalani , Jamaludin TJ210.2-211 Mechanical devices and figures. Automata. Ingenious mechanisms. This project deals with safety issues in human-robot interaction. A particular focus of this project is on a humanoid robot hand which requires (physical) safety to interact with objects/humans. A robust and active compliance control is proposed via an Integral Sliding Mode Controller (ISMC) to achieve safe object grasping. The ISMC allows us to introduce a model reference approach where a virtual mass-spring damper system can be used to design a compliant control. The first stage of the studies requires the derivation of the forward kinematics for the Bristol Elumotion Robot Hand (BERUL) by using the DH technique. With the help of the motion and image capturing tool, Roborealm, the kinematics data of the robot hand are obtained to compute the relationships between the joint angles. The forward kinematics results show that a suitable model for a single robot finger can be represented via a pulley-belt type system. The second stage requires the investigation of the ISMC for tracking and positioning control. The results reveal that the ISMC is the most suitable candidate for tracking and positioning control in particular to eliminate friction and stiction, also in comparison to standard PID, adaptive and traditional sliding mode control. The third stage of the PhD-research introduces a novel model reference approach for active compliance control via the ISMC in simulation and experiment. The ISMC provides a non scheduled compliant control where transition from positioning to force control can be eliminated. It is practically proven that the BERUL fingers can perform at different, specially designed compliance levels for specific objects. Further improvement for practical grasping is proposed by introducing a spherical coordinate system for the thumb finger and exploiting a cylindrical coordinate system for the other remaining fingers. The operational space control approach is proposed to permit finger (i.e. hand) posture optimization for practical grasping; this also reduces the need for high accuracy. Finally, an automatic tuning procedure is introduced for the compliance reference model which will allow to find suitable compliance level parameters for specific objects. 2013 Thesis NonPeerReviewed application/pdf http://eprints.uthm.edu.my/4638/1/Jamaludin_Jalani.pdf Jalani , Jamaludin (2013) Robust active compliance control for a robot hand. PhD thesis, University of Bristol. http://eprints.uthm.edu.my/4638/
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Tun Hussein Onn Malaysia
building	UTHM Institutional Repository
collection	Online Access
topic	TJ210.2-211 Mechanical devices and figures. Automata. Ingenious mechanisms.
spellingShingle	TJ210.2-211 Mechanical devices and figures. Automata. Ingenious mechanisms. Jalani , Jamaludin Robust active compliance control for a robot hand
description	This project deals with safety issues in human-robot interaction. A particular focus of this project is on a humanoid robot hand which requires (physical) safety to interact with objects/humans. A robust and active compliance control is proposed via an Integral Sliding Mode Controller (ISMC) to achieve safe object grasping. The ISMC allows us to introduce a model reference approach where a virtual mass-spring damper system can be used to design a compliant control. The first stage of the studies requires the derivation of the forward kinematics for the Bristol Elumotion Robot Hand (BERUL) by using the DH technique. With the help of the motion and image capturing tool, Roborealm, the kinematics data of the robot hand are obtained to compute the relationships between the joint angles. The forward kinematics results show that a suitable model for a single robot finger can be represented via a pulley-belt type system. The second stage requires the investigation of the ISMC for tracking and positioning control. The results reveal that the ISMC is the most suitable candidate for tracking and positioning control in particular to eliminate friction and stiction, also in comparison to standard PID, adaptive and traditional sliding mode control. The third stage of the PhD-research introduces a novel model reference approach for active compliance control via the ISMC in simulation and experiment. The ISMC provides a non scheduled compliant control where transition from positioning to force control can be eliminated. It is practically proven that the BERUL fingers can perform at different, specially designed compliance levels for specific objects. Further improvement for practical grasping is proposed by introducing a spherical coordinate system for the thumb finger and exploiting a cylindrical coordinate system for the other remaining fingers. The operational space control approach is proposed to permit finger (i.e. hand) posture optimization for practical grasping; this also reduces the need for high accuracy. Finally, an automatic tuning procedure is introduced for the compliance reference model which will allow to find suitable compliance level parameters for specific objects.
format	Thesis
author	Jalani , Jamaludin
author_facet	Jalani , Jamaludin
author_sort	Jalani , Jamaludin
title	Robust active compliance control for a robot hand
title_short	Robust active compliance control for a robot hand
title_full	Robust active compliance control for a robot hand
title_fullStr	Robust active compliance control for a robot hand
title_full_unstemmed	Robust active compliance control for a robot hand
title_sort	robust active compliance control for a robot hand
publishDate	2013
url	http://eprints.uthm.edu.my/4638/ http://eprints.uthm.edu.my/4638/1/Jamaludin_Jalani.pdf
first_indexed	2018-09-05T11:14:52Z
last_indexed	2018-09-05T11:14:52Z
_version_	1610765924920459264

Robust active compliance control for a robot hand

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