Model identification of a low-cost robot gripper by using MATLAB system identification toolbox (SIT)

• Main Authors: Sadun, Amirul Syafiq, Jalani, Jamaludin, Abdul Sukor, Jumadi
• Format: Article
• Language: English
• Published: Asian Research Publishing Network (ARPN). 2016
• Subjects: TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General)
• Online Access: http://eprints.uthm.edu.my/4232/1/AJ%202016%20%2825%29.pdf; http://eprints.uthm.edu.my/4232/

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.