Cascade control of robotic fingers with anthropomorphic inspiration

• Main Authors: Farag, Mohannad, Zainul Azlan, Norsinnira, Ahmad, Salmiah
• Format: Conference or Workshop Item
• Language: English; English
• Published: IEEE 2016
• Subjects: T Technology (General)
• Online Access: http://irep.iium.edu.my/61329/1/61329-Cascade%20Control%20of%20Robotic%20Fingers.pdf; http://irep.iium.edu.my/61329/2/61329-Cascade%20control%20of%20robotic%20fingers-SCOPUS.pdf; http://irep.iium.edu.my/61329/; http://ieeexplore.ieee.org/document/7885309/

This paper presents the design of cascade controller for robotic fingers designed based on an anthropomorphic inspiration. These fingers are driven by Pneumatic Artificial Muscle actuators. The high nonlinear dynamics of these actuators and the inherent hysteresis in their behavior lead to the...