Title :
Design of a grasp force adaptive control system with tactile and slip perception
Author :
Huang, Zhao-xiang ; Zhang, Xiao-dong ; Li, Yao-nan
Author_Institution :
Suzhou Acad., Xi´´an Jiaotong Univ., Suzhou, China
Abstract :
This paper realizes the tactile and slip perception of prostheses finger by using of PVDF (Polyvinylidene Fluoride) piezoelectric membrane. The mathematics model of brushless DC motor is constructed and the characteristics of PVDF tactile and slipping sensor are analyzed. The PID controller is adaptive by designing the control system with tactile and slip feedback. The feedback system implements adaptive control. The simulink dynamic model of the control system is modeled. The simulation results show the control system can satisfy the requirements and has good response characteristics.
Keywords :
adaptive control; brushless DC motors; control system synthesis; force control; prosthetics; slip (asynchronous machines); tactile sensors; three-term control; PID controller; PVDF piezoelectric membrane; Simulink dynamic model; brushless DC motor; grasp force adaptive control system; mathematics model; polyvinylidene fluoride; prostheses finger; slip feedback; slip perception; tactile feedback; tactile sensor; Control systems; DC motors; Force; Mathematical model; Piezoelectric transducers; Thumb;
Conference_Titel :
Automation Science and Engineering (CASE), 2012 IEEE International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-1-4673-0429-0
DOI :
10.1109/CoASE.2012.6386342
