Robust Control for the Motion Five Fingered Robot Gripper.

(1)

@

C,,, _._BIc

'1,,1".J

UpE

,-**.,;

:0:-:

Ul

(2)

g.edRobo,Giop...\6rm.

rnT qw* iimnto

rid.t

p\ptIfu,F

iL

ide\&, \ho^&d,.

Robusr Cont ol lor the MoLion F ve F n9ered RoboiGripper

(3)

hnp://**{ iimmo.viideiplDlm=.

(4)

Robust

Control

for

the

Motion

Five

Fingered

Robot

Gripper

w. widhiada T. G. T.

Nindhia

d N. Budima

Univ!6iBofud'y,m,Ddpaajidoi.li.

Em.jr:

twdiiqi,

[email protected], budiaE nPnd@yd6 6 id

h@ o!.

or

.

nrr rsrh

bpnt thB

r

lhs

ri

obiid

rd ft crd irdrnida

d

!q.d

ned.

i'odldr

E 6'enrd d6i!n pddt ror 6.

ddtD

rh

l''antd6igodgnpFrni&nd.0lb(+pltd

lhdsinuh

(si4vFh!iq)

rid

hrid reE

rbs-, cFhlt

Mdd<hrd r@p wni

d!

@bur

nr.r!.!n06 n

{d jobr

6qqsnoFrtFtrD.

$iFL

stsnnd

rudr

olr rh. h'14bry rDsdr

Ee*

ft! hJdory rsb

b*r

nih rndr dmr igur

ia&mdioi the Dbr is usully oNideEd b

ir*r

*jrh

'iadi56!'l1yd.dca'$i!Pd.Th.nh.li.s

brh0viou itrb hunsoid _{lrl. od'.i}humoid Esrrch

6hdr _Pl.r! 6ch of d'8.

ca*

rh.ir hads ruE bfto

^o|olgi!@rnd.

ddhntui.d rsb

ro r.dom Dhysiql hddlii3

of$ercbolksyscnddilkd$i9.db!!ilind*di,t

td.turc$t h- Y oI |4.

b-

et b3. E

prop.i gripptr ddigl

.d

simdin ne Nenr asmbry,

lnp'floblid@st,ddFiFlnlllwbsyidely

gippcBhsgndMllyd.Elop.dfolgcpi4avshtyof bks lrcn Biry ! :inpL n(huisn b ndliplr

d.cd

3pEifi6llydsisldo']ylo@poldi!hdilioBl

.ofrs of obj.d. h ilis s&dy d'. &,ho ha rcssh.d

Thedesiciol'gippcfr4ris,dimh6k{ilh

of

_Ejpps

ad

m.

onpldity

or

m*hmknlal.

Tndidonally'apbysic.lpDbt)!.kn.*sqlohly

Es r h3id\ sbilit h pelfom r v&i.y or6k5, bd dis

.Mbles

'n. modem dsigin ro nodel (simube) Ihe

supponiryfi.dais4pl ni8udurysnofdFmics

Flbmue

or rebotic _sjpp.a

I5l h

inis wrk

onhlli'glh.d*mNoffiv.fingeEdgiptsrTh?

Ei'pdl'uddgmp&dnuipulA.iheagiEins

rnd a prcIoqp? tuhor

sipq

Gr ftsrB. Thk grippd

d$iF virr Ecnble a iuns

tod

ran trbor

{iil

llrvc

r I lobry joitu

(Bdd! joi

_).PID 6nft1 k usd rd

@!ftllhcldl.ndicsdddFmi6hh.!Ei'pgb

edhighgnfuyEsp.divdy'

fv.fia€iedgippgisep.bl.lo!@lntd'.fudoi

HNns

sirE

fingm. Ouic*ly

MF!&

i,}j.

drivinc

r small

.rcr:iFl

so a iE caln .oidnids _{G'ady 36b)}

(5)

tu.dd tut

had aJe.bt

d

rat

Fmm 1973 b 201 l. rhe

!o*

sdetu'o

n

EIpp$

d6is

hs gidurny ddddp.d hm simpl. kin.ndic

€fugcm.ds

itu

rh. muri-d.F. of n*ddn dcign.

FmndjedaludionorFpp.rd*ig!sndlh.fumIioml fiig.Ed _Ei@awnh nuhidcgc or nedom

k

rhe

bor b d$is! _{dy thysi4lsy*h}in 3D sorid nodrlling

ddor b d*igi muhi d.gF* orn€€dom (DoF) _Fppd

fug.F-dgiPF.Tiis

M{tAs/sinulirldsinMahmi$.

Fit

hodi.s ad $.n

n

s prcFh6. rhcir posible

dLB,

tircndi

@Ehii6 dd turdineB sysn sd !o inirilt and m*suE body ndbN t7l. h dis

*o*

5ioul ioi Es16 bd visulizrion or rll. dFmks ol a

son@ d follo{ $e dinftio! of

hdr

tiss.

tx.

dn$m in MAlaAr?sinuli.k is shoM ir Fis. 1. Th.

4d h

chu8€

5hould

h.

b,arr dow inro rhe

of nebdj.n sydmi A tuodhobr

of$t

w*

& rh!

isuklbifurr€s.dtasly*ilholdiflrysinulid

bro.kdirclisb 4abr.rh.

n(h

ic,r

ekn

tsmdih

cso.i'tJsdhlsys.ndmcftiobciiv*ligd.dii

.drir'efuGig.ndmbd!'ipFrnshdhiid'.irdw

B.

)rchibctue alRabot

FiEt

d'6Gic.rdhddp6ldl'?.bydMlopiigfioddiis]

solid

m*s

sofr*m tel.

Sinlbiiotr h6 b(tr id.mirird

s

a

si$ifie.

si]dt

bl

lor mboiic sys.ms sime

i\.

.rLy 6r rh. 20rh

dnry

I3l dd iow 3inul ioi n.'hods Na powe!tur

dclsl@ h

difrd

'la

orm.mh ad dwelopn

!

Nd, sinuliik hs d.vdoFd ii mny d;diod: rddiig

nu.

blek,

bdr'b

ph}sicdmodelingorbbo6'

Thednqiashdvnlkoughlh.dlnolsh'iondf

sinul

id

rh

it k $ibbl. ror rh. tutrdin

il

buildinr

11'cdd.rcsmb.lEippdise{uipp.d}id'hu

idsricd

fiBc

(i 4

niddl., 6ud\ ftr. fned) dd a

dunb. An mturor is i$iarhd in

th

ioitrt ofrh. finqs

(6)

t d t tu t J@ t Jou,4t af Mt b d 4 t

b.i

E.

EoG),llJsa + _@J+

nJ

+ Rrl +

x6f')

4=qdidmfuYolbc.,ldx

J= MoDnr bdi& mobr. k-m'

Th..quriotr

t

h me

tustu

Frctior ofDc a.M

ed

rhumb. rhe joiib

ift+hn4ar

(Drp), p6nnd

ift,lr,ar,ilsr

(!rP)

ed m.bcailophrlq*l rMcP) joinb ach hM I DoF

linl.frnggpDbt}ldheb€adsiFed3Mh'l'al4ch

fings

ia

rhEe d.sn* ot ttdom. Ii ord( ro simulaE rhc fidslr no'ims

€h

lmr@ joiDt

k

o

rs.ir'cd

c.

Mdhmdil Moddl@ Dc

tu

Mdq

m

$do

ndo

is ned 6 drirc six

joiB

in nBq

rh.

hjtury

prmiry i5

mcsry b

erttu

r'.

.B!Eslhd$egiDErrcboi.x*uklh.dmd

6nrt!i5. rft

biiiri'r s' or ft{uiJ.n d for 3 _sripp.r

Th. itrrd

orrajdD

Dronirs dFndh c

ft

F$

dscriprion,

rt.

padr

inP6.dby'EippdnboldFul6'ihelw$c

odPlb

&

dE

joi

hjEbn6

ii

rms

of

!

.in.

sqhe

dr rh. v,les tuined by _r.sidolv.ldcig

rd

nov.d qi'h o! *iinod loan dods 3 pE$nbd

hntury

dmnghlhenobikmbo!w*5@!'n'c6'hlsys.n

ormobire obo, 13 lEery a 6r1e'idd

ofjoi

ooftn4

€* or

i.h is _DEsird

b

a singr.

joi

b

driE ir

iidividnally']t.nfefu3iF*iId!!@nfulkB

d

pplied by a joinr ftjdory _s.neturdddhinids

,h. ddiEd joii, ,nje6y Gdn

6!

d6dd ftjldory

d

in rh.

eftf{

df .tunar rorc5 _4p'ndb $e obj4r

a .onsiddbk h.dy otns.dh r,e 64tr

udd'r.r

plmidgrcl.d'oiicoliEdlvieudlh.signiffql

ok,& dddop.d bb.,ic hdd b rdd. obj!* {hich

t

slhbl. ro s@Es

ft

6pid chse or rhe

sping

al!6rid$ldodbqE34o

b

udnrod

ed

saipub€

obj*

_{undd eoslior}

Erariotr bdwdr posirior

qd

_+pti.d6rc!. ni6ns3

@61*jmf€glbekole.silioidlymddim'*s

6nhr $dr roc f..dhek

btrdor

_I!21,rhi: roc i3

@nvdd e

joi

bque onmnds

s'l

rh.

cuhiis

huds tr3l md 1141. rhe inpr.m4drion ofr

onhnd

d,

s.risbry hod w,e pErnrd tl5l. H. inrlducd

rcro.iry md sppriti forc. _Ir

l

I"l

_{6d Irel}

ihip

,ridi ahiliri* @d frciririF ro p.,fon @npiex

d.Krdp.d bodr of

o*

d6iF

eEE

s 6 DoF finsdip

foE.b4uesw'dineFi.dlldodcswilhnew

ommisddircr'itupot.

Bek.y pmpo*d

'te

oihr

$absy of

B.!rd.

mbo,

F$

lor rhe 8L ud _horb

s.

$.

mulii-dinqsionar

sspiieqnrlilyjiFspmd.$ldddsdpafoftme

evaruri-on in

a

indeiar ssnbry domijn t2rl. rhe

B.lgnd. mbo' h[d is usd b sBpa vel.g or

objd

0d€p.uebadaldrile4p|'ingsimpleconhl

(7)

d

cddidion

or

i!'

ruD

flion pubs! (RccL-/Rcl)

ia

&o !i'p"d

itr

.-,,ir-dmEd$c dre

Lts r,rd

ti.m

t

:l

mov.d virh d vi,hour rod dolg 6 pEsibtd

6jr6ry

oI6b;, [email protected] s rnprv s @krion

olioi

rcimkR

-dJvh[hEd.did.d'or'nglrloin'uddnwsi

iarlidudN. Th. rcftmc siF

t

ror

rh*'

@nh1l6

N

smrft

b, . joid

did,6 B-d' &'mi"'s

ft

d*ired oid fti<iory filn tlrt

dsi

dmiftbryor

n.hmftnfLsreedbrlrcihlsilqigM

t*s

;sEdivd$E@ni

',

b po

'o

ed w *iry

*.-i

iftd*'sD.e-'j*"r

*d

d.'*b* *d"*

h<h4i;a

b

onft

oi sft!

or.rh

or lh. noslE Br tudn's $ibbh

"d..d6.mdonfu'6s5i.thePID6ib[.

akon6m,

d!

onftus fis

b4i

roud 10 pmvide rh'

idllsd stul

erion lor sp-ific pr.6s

Eq

em.nr'

rh.a;b

!FiBorPmpohotrd e0irn pr

lltBdr({i)

ed

Dn.E

hra.ii (l(d)v,1(

u!

de.

i.d

bv

&b

oih!

b dhi€E !

tr' lsm.

to lhdv sbb G'hdg

.*';id'*,

**"".

*."hd

n.

*.

,

g'r

n

$.

iffi;c ees

dry oiem,

is!!r.

s

.&

'!dJd dtrdhdrY

^@FhderdbEuhdad

tu.d@B

-:r:=F--_'_

[email protected]

fr.sinulidon€ut6visulri'donorEi'pgfrv.

M;-

.b.,

-r"fu".

,h. 6"F" E pF

'*.

b

"p*

ck

r]l.rc

e 6{

Posirior

odfi$rddi

s

FiG

of fiisF ltrich

d

opade hv

iinulnjoi

h

M

brr'sinM*rris

curu sistrl

s

lhe esdlr Fsfim srpi ir fiw

riga.l

sipPd mbor

rFlshlqddljtNidqqrFlfrlFdd

rrffias d

.^rnind

inb

aco.d in 20 .Mnd.

m.

vku.liation df rh! mtion

gipp(liouldolL3hovltrF'g'b'Th.nmuldjotro.

ehsd

ihe

idy EeoF

rL.1or wirdrnnun

which it iddi.d$ rh. 6po$. d)imic

t@

nspoBe

Tt" sMnd m.rhod k

.:$irdioi

of pbbqp. or rhc

6{

firyEd

dbtlnpF

fte _Prcqso bu'ld or mbo.

sireq

pobt!!

(d b. sm in $. Pb 3

F4dmblFPpds

mi.rotulld

4d it shovs in Fis. 9 a lbno*

(8)

httuifutJau@r

at

tbtutbeiEe.iEqdtututiqRI.d

tqr

!,

a 3 rdt

tb

qPcliddlplo{s'Th.dala$lp6ido!t3Pd6.

jnb6qp.nnertofDhol6i3'kshoMinFjg'I0b

t-t;

nscP bdb$rds

dDsndLtuFiod

r@n h.MosbFddf

&id,

nDFiohl

E--;

r i .

F F D tu dd {s!'Fddd hid j.hkl htuh

TheoveBholsisslin.xFjn!ofPfutF.k

hjgh{lhmiisinda'ionpffibaN.lhdrenhy

a3iEnEftrcrc.Eluisfix.jwi$rrdig'im!,s'll

'ind!jo!tj]@*slii*Gcilldididciolfc[,

rhe nunb? or

€ildioB

rhd

@r

in

'r'.

joinc _orrie

$mb is du. b rhe wichlbding joitu of rh" rhmb

pldbgp. rdilg d'r dr ndrdr

ndvd

e0 _'

s

u'd rh.

[email protected]!

rsrin8. Prcbq?e tnins Bulb

e

nor nuch ditrwd

aft*96ndsb&hie{!aenEfIEGbgle'lx.

o..Urtieoto$illalioNiilh.prcbln.Brcsultsi5

ri.ph,:idlnddclo''h.fufingd6bolEipp.lis

on'putswb.DmDprrdvimsjnuliiksinuldion!Tl's.

coiftlle.cusi4lhcrcbu*strftloiPIDromdion'

rnj.dory ofrh! nnss. n'. srnur.don E$13 hiv.

b..i

(9)

eml:isalisinuldioiFlmsbsus.lhfi.aEnaiy

d;igli.6bu$P['etrhlcu@fulifuDbtg]ppm

wetd..Ply0dmtlrubhgi'ii!d.sMinkE'

Erfth

(NBN 20ll) rhoush Leds or Nisnn.d ii

$.

siddofinDl€n{b'bn

lrl ( b*d

K

rMr d r

hLrc,

"b!o6dL

hdc

r5l

L ztili\

'tuh,

'o!

d

\6)

Li

^@\

D c@ttu3t

tu, bredturyt

r3l L zh]'d.'sir!!!6

f

ohL4"

krLdd

4d.@4r4

66rrd a66e' h.tuttu bwt

o/ E*@48

@Fibr

do d.frr,fm /d

r

a!@i sF?d

llrlaod{

roDF q _anrt,

dhr'il.hd F4im6,

!r&

objd turhE

r.s

tl@J _5d,

@

c,&',. 6L

noL!!!dbyiJ!6iBd

trkdaddcd' hrd.ad d,4e@ry r@bd@,

J q/R&6 tr{, w' r0, _{o F}.}Lss

lbBelgddkEfurkfuaRddfu|@\an

U q]qunidK!91!rqNlqb

(U.M)Yo!r!b4hecEdA!s'

r4l''Udup!0ii4''jh6'4j'hddaHn6eh

Ai'fu.rcchd'B6h&od

(10)