Interaction motion control on Tri-finger Pneumatic Grasper using variable convergence rate prescribed performance impedance control with pressure-based force estimator

• Main Authors: Irawan, Addie, Azahar, Mohd Iskandar Putra, Pebrianti, Dwi
• Format: Article
• Language: English; English
• Published: Universitas Muhammadiyah Yogyakarta 2022
• Subjects: T Technology (General); TJ212 Control engineering
• Online Access: http://irep.iium.edu.my/101855/7/101855_Interaction%20motion%20control%20on%20Tri-finger%20Pneumatic%20Grasper.pdf; http://irep.iium.edu.my/101855/13/Scopus%20-%20Document%20details%20-%20Interaction%20Motion%20Control.pdf; http://irep.iium.edu.my/101855/; https://journal.umy.ac.id/index.php/jrc/article/view/16316/7883

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...