Interaction Motion Control on Tri-finger Pneumatic Grasper using Variable Convergence Rate Prescribed Performance Impedance Control with Pressure-based Force Estimator

Interaction Motion Control on Tri-finger Pneumatic Grasper using Variable Convergence Rate Prescribed Performance Impedance Control with Pressure-based Force Estimator

Pneumatic robot is a fluid dynamic based robot system which possesses immense uncertainties and nonlinearities over its electrical driven counterpart. Requirement for dynamic motion handling further challenged the implemented control system on both aspects of interaction and compliance control. This...

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Bibliographic Details
Main Authors: Addie Irawan, Hashim, Mohd Iskandar Putra, Azahar, Pebrianti, Dwi
Format: Article
Language:English
Published: Universitas Muhammadiyah Yogyakarta 2022
Subjects:
T Technology (General)
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://umpir.ump.edu.my/id/eprint/38920/
http://umpir.ump.edu.my/id/eprint/38920/1/Interaction%20Motion%20Control%20on%20Tri-finger%20Pneumatic%20Grasper%20using%20Variable%20Convergence%20Rate%20Prescribed%20Performance%20Impedance%20Control%20with%20Pressure-based%20Force%20Estimator.pdf

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