Design and implementation of adaptive inverse control algorithm for a micro‐hand control system. Issue 1 (30th January 2014)

• Record Type: Journal Article
• Authors: Wang, Wan‐Cheng; Liu, Tian‐Hua; Syaifudin, Yuddy; Wang, Tsan‐Kai
• Is Part Of: Journal of engineering. Volume 2014:Issue 1(2014)
• Page Start: 34
• Page End: 44
• Publication Date: 2014-01-30
• Subjects: adaptive control -- control engineering computing -- control system synthesis -- embedded systems -- force control -- grippers -- inverse problems -- manipulator kinematics -- microcomputers -- micromanipulators -- permanent magnet motors -- position control -- synchronous motors -- transient response; grasping response -- tracking response -- load disturbance response -- transient responses -- hardware circuit -- cRIO‐9024 -- embedded microcomputer -- online force control algorithm -- grasping process -- proportionalâ€"integral control algorithm -- adaptive inverse model -- microfinger tip -- micropermanent magnet synchronous motor -- rotor position -- kinematic analysis -- microhand configuration -- online tuned adaptive inverse position control algorithm -- microhand control system -- adaptive inverse control algorithm design; Engineering -- Periodicals; Engineering; Electronic journals; Periodicals; 620.005
• DOI: 10.1049/joe.2013.0218
• Languages: English
• ISSNs: 2051-3305

Abstract

Abstract : The Letter proposes an online tuned adaptive inverse position control algorithm for a micro‐hand. First, the configuration of the micro‐hand is discussed. Next, a kinematic analysis of the micro‐hand is investigated and then the relationship between the rotor position of micro‐permanent magnet synchronous motor and the tip of the micro‐finger is derived. After that, an online tuned adaptive inverse control algorithm, which includes an adaptive inverse model and an adaptive inverse control, is designed. The online tuned adaptive inverse control algorithm has better performance than the proportional–integral control algorithm does. In addition, to avoid damaging the object during the grasping process, an online force control algorithm is proposed here as well. An embedded micro‐computer, cRIO‐9024, is used to realise the whole position control algorithm and the force control algorithm by using software. As a result, the hardware circuit is very simple. Experimental results show that the proposed system can provide fast transient responses, good load disturbance responses, good tracking responses and satisfactory grasping responses.