Design and Implementation of Composed Position/Force Controllers for Object Manipulation

In the design of a controller for grasping objects through a robotic manipulator, there are two key problems: to find the position of the object to be grasped accurately, and to apply the appropriate force to each finger to handle the object properly without causing undesirable movement of it during...

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Autores principales:	Sergio Hernandez-Mendez, Elvia Ruth Palacios-Hernandez, Antonio Marin-Hernandez, Ericka Janet Rechy-Ramirez, Hector Vazquez-Leal
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	robotics manipulation intelligent control Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
Acceso en línea:	https://doaj.org/article/f47867180cc8419ab1ac05f4d924963f
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id	oai:doaj.org-article:f47867180cc8419ab1ac05f4d924963f
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spelling	oai:doaj.org-article:f47867180cc8419ab1ac05f4d924963f2021-11-11T14:58:16ZDesign and Implementation of Composed Position/Force Controllers for Object Manipulation10.3390/app112198272076-3417https://doaj.org/article/f47867180cc8419ab1ac05f4d924963f2021-10-01T00:00:00Zhttps://www.mdpi.com/2076-3417/11/21/9827https://doaj.org/toc/2076-3417In the design of a controller for grasping objects through a robotic manipulator, there are two key problems: to find the position of the object to be grasped accurately, and to apply the appropriate force to each finger to handle the object properly without causing undesirable movement of it during its manipulation. A proportional-integral-derivative (PID) controller is widely used to grasp objects in robotics; however, its main shortcomings are its sensitivity to controller gains, sluggish response, and high starting overshooting. This research presents three coupled (position/force) controllers for object manipulation using an assembled robotic manipulator (i.e., a gripper attached to a robotic arm mounted on a mobile robot). Specifically, an angular gripper was employed in this study, which was composed of two independent fingers with a piezoelectric force sensor attached to each fingertip. The main contributions of this study are the designs and implementations of three controllers: a classic PID controller, a type-I controller, and a type-II fuzzy controller. These three controllers were used to find an object to be grasped properly (position) and apply an equivalent force to each finger (force).Sergio Hernandez-MendezElvia Ruth Palacios-HernandezAntonio Marin-HernandezEricka Janet Rechy-RamirezHector Vazquez-LealMDPI AGarticleroboticsmanipulationintelligent controlTechnologyTEngineering (General). Civil engineering (General)TA1-2040Biology (General)QH301-705.5PhysicsQC1-999ChemistryQD1-999ENApplied Sciences, Vol 11, Iss 9827, p 9827 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	robotics manipulation intelligent control Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
spellingShingle	robotics manipulation intelligent control Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999 Sergio Hernandez-Mendez Elvia Ruth Palacios-Hernandez Antonio Marin-Hernandez Ericka Janet Rechy-Ramirez Hector Vazquez-Leal Design and Implementation of Composed Position/Force Controllers for Object Manipulation
description	In the design of a controller for grasping objects through a robotic manipulator, there are two key problems: to find the position of the object to be grasped accurately, and to apply the appropriate force to each finger to handle the object properly without causing undesirable movement of it during its manipulation. A proportional-integral-derivative (PID) controller is widely used to grasp objects in robotics; however, its main shortcomings are its sensitivity to controller gains, sluggish response, and high starting overshooting. This research presents three coupled (position/force) controllers for object manipulation using an assembled robotic manipulator (i.e., a gripper attached to a robotic arm mounted on a mobile robot). Specifically, an angular gripper was employed in this study, which was composed of two independent fingers with a piezoelectric force sensor attached to each fingertip. The main contributions of this study are the designs and implementations of three controllers: a classic PID controller, a type-I controller, and a type-II fuzzy controller. These three controllers were used to find an object to be grasped properly (position) and apply an equivalent force to each finger (force).
format	article
author	Sergio Hernandez-Mendez Elvia Ruth Palacios-Hernandez Antonio Marin-Hernandez Ericka Janet Rechy-Ramirez Hector Vazquez-Leal
author_facet	Sergio Hernandez-Mendez Elvia Ruth Palacios-Hernandez Antonio Marin-Hernandez Ericka Janet Rechy-Ramirez Hector Vazquez-Leal
author_sort	Sergio Hernandez-Mendez
title	Design and Implementation of Composed Position/Force Controllers for Object Manipulation
title_short	Design and Implementation of Composed Position/Force Controllers for Object Manipulation
title_full	Design and Implementation of Composed Position/Force Controllers for Object Manipulation
title_fullStr	Design and Implementation of Composed Position/Force Controllers for Object Manipulation
title_full_unstemmed	Design and Implementation of Composed Position/Force Controllers for Object Manipulation
title_sort	design and implementation of composed position/force controllers for object manipulation
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/f47867180cc8419ab1ac05f4d924963f
work_keys_str_mv	AT sergiohernandezmendez designandimplementationofcomposedpositionforcecontrollersforobjectmanipulation AT elviaruthpalacioshernandez designandimplementationofcomposedpositionforcecontrollersforobjectmanipulation AT antoniomarinhernandez designandimplementationofcomposedpositionforcecontrollersforobjectmanipulation AT erickajanetrechyramirez designandimplementationofcomposedpositionforcecontrollersforobjectmanipulation AT hectorvazquezleal designandimplementationofcomposedpositionforcecontrollersforobjectmanipulation
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Design and Implementation of Composed Position/Force Controllers for Object Manipulation

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