Model identification of a low-cost robot gripper by using MATLAB system identification toolbox (SIT)
This paper describes the method of finding the estimated plant transfer function of a low-cost robot gripper system by using the MATLAB System Identification Toolbox (SIT).The best output signal of the gripper is obtained in particular by introducing a fast response step input (i.e. big slope) and a...
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| Main Authors: | , , |
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| 格式: | Article |
| 语言: | English |
| 出版: |
Asian Research Publishing Network (ARPN).
2016
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| 主题: | |
| 在线阅读: | http://eprints.uthm.edu.my/4232/1/AJ%202016%20%2825%29.pdf http://eprints.uthm.edu.my/4232/ |
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| 总结: | This paper describes the method of finding the estimated plant transfer function of a low-cost robot gripper system by using the MATLAB System Identification Toolbox (SIT).The best output signal of the gripper is obtained in particular by introducing a fast response step input (i.e. big slope) and a slow response step input (i.e. small slope).The test is based on the hardware setup which consists of a low-cost robot gripper, a closed-loop DC servo motor with position feedback, the Arduino IO hardware control and data acquisition. The results show that the obtained output signal is sufficient to represent the low-cost robot gripper transfer function by using a slow response step input. The PID control is employed and the results show that the gripping performance is satisfactorily achieved in simulation and experiment. |
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