Position Control of Linkage Underactuated Robotic Hand

Shaker S. Hasan, Somer M. Nacy, Eldaw E. Eldukhri, Haider Galil Kamil, Enass H. Flaieh


In this study a proposed PID control system for (Ca.U.M.Ha) robotic hand with a finger and a thumb introduced, to control grasping cylindrical objects made from different materials soft and hard within a range of (48-150) mm in diameter . A samples of PID response figures for object that need just a finger, and object that needs a finger with a thumb introduced in additional to the figures of actuators voltage needed for both cases through grasping.

Keywords: Linkage , underactuated, position  PID control

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ISSN (Paper)2224-5774 ISSN (Online)2225-0492

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