Modeling and control of compact anthropomorphic robot finger
This paper presents the development of the mathematical model and controller of a light weight and small size robot finger. The finger possesses self adaptive grasping capability and is made of seven bar linkages with a slider or lead screw mechanism in the middle phalanx to adjust its effective le...
| Main Authors: | , |
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| Format: | Proceeding Paper |
| Language: | English |
| Published: |
2011
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/47727/ http://irep.iium.edu.my/47727/4/47727-article.pdf |
| _version_ | 1848783194075168768 |
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| author | Zainul Azlan, Norsinnira Yamaura, Hiroshi |
| author_facet | Zainul Azlan, Norsinnira Yamaura, Hiroshi |
| author_sort | Zainul Azlan, Norsinnira |
| building | IIUM Repository |
| collection | Online Access |
| description | This paper presents the development of the
mathematical model and controller of a light weight and small size robot finger. The finger possesses self adaptive grasping capability and is made of seven bar linkages with a slider or lead screw mechanism in the middle phalanx to adjust its effective length in realizing both pinching and grasping tasks. The dynamic model of the linkages is integrated with the electrical motors mathematical description to represent the whole robotic system. Numerical simulations have been carried out to study
the finger’s dynamic behaviour under the Proportional Integral Derivative (PID) control. |
| first_indexed | 2025-11-14T16:17:28Z |
| format | Proceeding Paper |
| id | iium-47727 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-14T16:17:28Z |
| publishDate | 2011 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-477272016-03-22T01:32:12Z http://irep.iium.edu.my/47727/ Modeling and control of compact anthropomorphic robot finger Zainul Azlan, Norsinnira Yamaura, Hiroshi TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering This paper presents the development of the mathematical model and controller of a light weight and small size robot finger. The finger possesses self adaptive grasping capability and is made of seven bar linkages with a slider or lead screw mechanism in the middle phalanx to adjust its effective length in realizing both pinching and grasping tasks. The dynamic model of the linkages is integrated with the electrical motors mathematical description to represent the whole robotic system. Numerical simulations have been carried out to study the finger’s dynamic behaviour under the Proportional Integral Derivative (PID) control. 2011-06-26 Proceeding Paper PeerReviewed application/pdf en http://irep.iium.edu.my/47727/4/47727-article.pdf Zainul Azlan, Norsinnira and Yamaura, Hiroshi (2011) Modeling and control of compact anthropomorphic robot finger. In: International Conference on Modelling, Identification and Control, 26th-29th June, 2011, Shanghai, China. http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=5961157# |
| spellingShingle | TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering Zainul Azlan, Norsinnira Yamaura, Hiroshi Modeling and control of compact anthropomorphic robot finger |
| title | Modeling and control of compact anthropomorphic robot finger |
| title_full | Modeling and control of compact anthropomorphic robot finger |
| title_fullStr | Modeling and control of compact anthropomorphic robot finger |
| title_full_unstemmed | Modeling and control of compact anthropomorphic robot finger |
| title_short | Modeling and control of compact anthropomorphic robot finger |
| title_sort | modeling and control of compact anthropomorphic robot finger |
| topic | TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering |
| url | http://irep.iium.edu.my/47727/ http://irep.iium.edu.my/47727/ http://irep.iium.edu.my/47727/4/47727-article.pdf |