Position Control of Linkage Underactuated Robotic Hand
Journal Article
, Shaker S. Hasan, . 2015
Publication Online URL:
Issue Number:
3
Volume Number:
5
Pages:
1-11
Publication Abstract:
In this study a proposed PID control system for (Ca.U.M.Ha) robotic hand with a finger and a thumb is introduced to control grasping cylindrical objects made from different materials soft and hard within a range of (48-150) mm in diameter . Samples of PID response figures for objects that need just a finger, and objects that needs a finger and a thumb were presented. In addition, the figures of actuator voltages needed for grasping in both cases were shown.