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Implementation of PID, Bang–Bang and Backstepping Controllers on 3D Printed Ambidextrous Robot Hand

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Intelligent Systems and Applications

Part of the book series: Studies in Computational Intelligence ((SCI,volume 650))

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Abstract

Robot hands have attracted increasing research interest in recent years due to their high demand in industry and wide scope in number of applications. Almost all researches done on the robot hands were aimed at improving mechanical design, clever grasping at different angles, lifting and sensing of different objects. In this chapter, we presented the detail classification of control systems and reviewed the related work that has been done in the past. In particular, our focus was on control algorithms implemented on pneumatic systems using PID controller, Bang–bang controller and Backstepping controller. These controllers were tested on our uniquely designed ambidextrous robotic hand structure and results were compared to find the best controller to drive such devices. The five finger ambidextrous robot hand offers total of \(13^\circ \) of freedom (DOFs) and it can bend its fingers in both ways left and right offering full ambidextrous functionality by using only 18 pneumatic artificial muscles (PAMs).

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Acknowledgments

The authors would like to cordially thank Anthony Huynh, Luke Steele, Michal Simko, Luke Kavanagh and Alisdair Nimmo for their contributions in design of the mechanical structure of a hand, and without whom the research introduced in this paper would not have been possible.

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Authors and Affiliations

  1. Department of Electronic and Computer Engineering, Brunel University, Kingston Lane, Uxbridge, London, UK

    Mashood Mukhtar, Emre Akyürek & Tatiana Kalganova

  2. Department of System Engineering, ESIEE Paris, Noisy-le-Grand Cedex, France

    Nicolas Lesne

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  1. Mashood Mukhtar
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  2. Emre Akyürek
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  3. Tatiana Kalganova
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  4. Nicolas Lesne
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Correspondence to Mashood Mukhtar .

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  1. Faculty of Computing and Engineering, University of Ulster at Jordanstown, Newtownabbey, United Kingdom

    Yaxin Bi

  2. The Science and Information (SAI) Organization, Bradford, West Yorkshire, United Kingdom

    Supriya Kapoor

  3. The Science and Information (SAI) Organization, Bradford, West Yorkshire, United Kingdom

    Rahul Bhatia

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Mukhtar, M., Akyürek, E., Kalganova, T., Lesne, N. (2016). Implementation of PID, Bang–Bang and Backstepping Controllers on 3D Printed Ambidextrous Robot Hand. In: Bi, Y., Kapoor, S., Bhatia, R. (eds) Intelligent Systems and Applications. Studies in Computational Intelligence, vol 650. Springer, Cham. https://doi.org/10.1007/978-3-319-33386-1_9

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  • DOI: https://doi.org/10.1007/978-3-319-33386-1_9

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