Model identification of a low-cost robot gripper by using MATLAB system identification toolbox (SIT)

Sadun, Amirul Syafiq and Jalani, Jamaludin and Abdul Sukor, Jumadi (2016) Model identification of a low-cost robot gripper by using MATLAB system identification toolbox (SIT). ARPN Journal of Engineering and Applied Sciences, 11 (14). pp. 8965-8971. ISSN 1819-6608

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Abstract

This paper describes the method of finding the estimated plant transfer function of a low-cost robot gripper system by using the MATLAB System Identification Toolbox (SIT).The best output signal of the gripper is obtained in particular by introducing a fast response step input (i.e. big slope) and a slow response step input (i.e. small slope).The test is based on the hardware setup which consists of a low-cost robot gripper, a closed-loop DC servo motor with position feedback, the Arduino IO hardware control and data acquisition. The results show that the obtained output signal is sufficient to represent the low-cost robot gripper transfer function by using a slow response step input. The PID control is employed and the results show that the gripping performance is satisfactorily achieved in simulation and experiment.

Item Type:	Article
Uncontrolled Keywords:	system identification toolbox; DC servo motor; transfer function; arduino IO hardware control
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General)
Divisions:	Faculty of Electrical and Electronic Engineering > Department of Electrical Engineering
Depositing User:	Mrs. Mashairani Ismail
Date Deposited:	01 Dec 2021 07:03
Last Modified:	01 Dec 2021 07:03
URI:	http://eprints.uthm.edu.my/id/eprint/4232

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