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All Journal IAES International Journal of Robotics and Automation (IJRA) TELKOMNIKA (Telecommunication Computing Electronics and Control)
Nithya Venkatesan
VIT University
Automotive Engineering Computer Science & IT Electrical & Electronics Engineering

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Novel Approach to Control of Robotic Hand Using Flex Sensors Sandesh R.S; Nithya Venkatesan
IAES International Journal of Robotics and Automation (IJRA) Vol 3, No 4: December 2014
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (501.659 KB) | DOI: 10.11591/ijra.v3i4.pp234-244

Abstract

This paper discuss about novel design approach to control of a robotic hand using flex sensors which indicates a biomechatronic multi fingered robotic hand. This robotic hand consists of base unit, upper arm, lower arm, palm and five fingers. The aim is to develop an anthropomorphic five fingered robotic hand. The proposed design illustrates the use of 5 micro DC motors with 9 Degrees of Freedom (DOF).Each finger is controlled independently. Further three extra motors were used for the control of wrist elbow and base movement. The study of the DC motor is being carried out using the transfer function model for constant excitation. The micro DC motor performance was analyzed using MATLAB simulation environment. The whole system is implemented using flex sensors. The flex sensors placed on the human hand gloves appear as if they look like real human hand.  89v51 microcontroller was used for all the controlling actions along with RF transmitter/receiver .The performance of the system has been conducted experimentally and studied.
Experimental Validation of a Multi Model PI Controller for a Non Linear Hybrid System in LabVIEW M.Kalyan Chakravarthi; Nithya Venkatesan
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 13, No 2: June 2015
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v13i2.1322

Abstract

In this paper a real time Single Spherical Tank Liquid Level System (SSTLLS) has been chosen for investigation. This paper describes the design and development of a Multi Model PI Controller (MMPIC) using classical controller tuning techniques for a single spherical nonlinear tank system. System identification of these different regions of nonlinear process are done using black box modeling, which is identified to be nonlinear and approximated to be a First Order Plus Dead Time (FOPDT) model. A proportional and integral controller is designed using LabVIEW and Chen-Hrones-Reswick (CHR), Zhuang-Atherton (ZA), and Skogestad’s Internal Model Controller (SIMC) tuning methods are implemented in real time. The paper provides the details about the data acquisition unit, shows the implementation of the controller, and comparision of the results of PI tuning methods used for an MMPI Controller.
Co-Authors M.Kalyan Chakravarthi Sandesh R.S