Control of cooperative manipulators in holding deformable objects
This paper presents the implementation of a control system to control cooperative manipulators to hold deformable objects. The aim is to hold the deformable object without having information on the shape and stiffness of the deformable object beforehand. The prototype of a pair of manipulators has...
| Main Authors: | , |
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| Format: | Proceeding Paper |
| Language: | English English |
| Published: |
IOP Publishing
2017
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| Online Access: | http://irep.iium.edu.my/62567/ http://irep.iium.edu.my/62567/7/62567-Control%20of%20cooperative%20manipulators%20in%20holding.pdf http://irep.iium.edu.my/62567/8/62567-Control%20of%20cooperative%20manipulators%20in%20holding%20deformable%20objects-SCOPUS.pdf |
| _version_ | 1848785865241788416 |
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| author | Alkathiri, A A Zainul Azlan, Norsinnira |
| author_facet | Alkathiri, A A Zainul Azlan, Norsinnira |
| author_sort | Alkathiri, A A |
| building | IIUM Repository |
| collection | Online Access |
| description | This paper presents the implementation of a control system to control cooperative manipulators to hold deformable objects. The aim is to hold the deformable object without
having information on the shape and stiffness of the deformable object beforehand. The prototype of a pair of manipulators has been designed and built to test the controller. A force sensor and a rotary encoder are used to give feedback to the controller, which controls the DC
motor actuators accordingly. A position proportional-integral-derivative (PID) controller technique has been applied for one of the manipulators and a PID force control technique is applied to the other. Simulations and experimental tests have been conducted on models and the controller has been implemented on the real plant. Both simulation and test results prove that the implemented control technique has successfully provided the desired position and force to hold the deformable object with maximum experimental errors of 0.34mm and 50mN respectively. |
| first_indexed | 2025-11-14T16:59:56Z |
| format | Proceeding Paper |
| id | iium-62567 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English English |
| last_indexed | 2025-11-14T16:59:56Z |
| publishDate | 2017 |
| publisher | IOP Publishing |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-625672018-06-26T07:01:54Z http://irep.iium.edu.my/62567/ Control of cooperative manipulators in holding deformable objects Alkathiri, A A Zainul Azlan, Norsinnira TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering This paper presents the implementation of a control system to control cooperative manipulators to hold deformable objects. The aim is to hold the deformable object without having information on the shape and stiffness of the deformable object beforehand. The prototype of a pair of manipulators has been designed and built to test the controller. A force sensor and a rotary encoder are used to give feedback to the controller, which controls the DC motor actuators accordingly. A position proportional-integral-derivative (PID) controller technique has been applied for one of the manipulators and a PID force control technique is applied to the other. Simulations and experimental tests have been conducted on models and the controller has been implemented on the real plant. Both simulation and test results prove that the implemented control technique has successfully provided the desired position and force to hold the deformable object with maximum experimental errors of 0.34mm and 50mN respectively. IOP Publishing 2017-11-07 Proceeding Paper PeerReviewed application/pdf en http://irep.iium.edu.my/62567/7/62567-Control%20of%20cooperative%20manipulators%20in%20holding.pdf application/pdf en http://irep.iium.edu.my/62567/8/62567-Control%20of%20cooperative%20manipulators%20in%20holding%20deformable%20objects-SCOPUS.pdf Alkathiri, A A and Zainul Azlan, Norsinnira (2017) Control of cooperative manipulators in holding deformable objects. In: 6th International Conference on Mechatronics 2017 (ICOM'17), 8th-9th August 2017, Kuala Lumpur, Malaysia. http://iopscience.iop.org/article/10.1088/1757-899X/260/1/012010/pdf 10.1088/1757-899X/260/1/012010 |
| spellingShingle | TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering Alkathiri, A A Zainul Azlan, Norsinnira Control of cooperative manipulators in holding deformable objects |
| title | Control of cooperative manipulators in holding deformable
objects |
| title_full | Control of cooperative manipulators in holding deformable
objects |
| title_fullStr | Control of cooperative manipulators in holding deformable
objects |
| title_full_unstemmed | Control of cooperative manipulators in holding deformable
objects |
| title_short | Control of cooperative manipulators in holding deformable
objects |
| title_sort | control of cooperative manipulators in holding deformable
objects |
| topic | TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering |
| url | http://irep.iium.edu.my/62567/ http://irep.iium.edu.my/62567/ http://irep.iium.edu.my/62567/ http://irep.iium.edu.my/62567/7/62567-Control%20of%20cooperative%20manipulators%20in%20holding.pdf http://irep.iium.edu.my/62567/8/62567-Control%20of%20cooperative%20manipulators%20in%20holding%20deformable%20objects-SCOPUS.pdf |