Position Control of Linkage Underactuated Robotic Hand
Abstract
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
![Download the IISTE publication guideline!](https://www.iiste.org/sub/iiste_footer_journal.jpg)
To list your conference here. Please contact the administrator of this platform.
Paper submission email: CTI@iiste.org
ISSN (Paper)2224-5774 ISSN (Online)2225-0492
Please add our address "contact@iiste.org" into your email contact list.
This journal follows ISO 9001 management standard and licensed under a Creative Commons Attribution 3.0 License.
Copyright © www.iiste.org