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Force control for a 3-finger adaptive robot gripper by using PID controller

Sadun, Amirul Syafiq and Jalani , Jamaludin and Abdul Sukor, Jumadi and Jamil, Faizal (2016) Force control for a 3-finger adaptive robot gripper by using PID controller. In: 2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (IEEE 2016), 25-27 September 2016, Universiti Teknologi Petronas, Perak.


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In order to ensure that a robotic hand can successfully grasp objects without damaging them, an active compliance control can be a very useful technique to provide a safe grasping. In particular, this paper establishes a direct force control for a 3-Finger Adaptive Robot Gripper by using a PID control. A modified FSR force sensor where a plastic cover is used to ensure the contacted force during grasping can be measured and recorded. A series of grasping tests were performed to observe the performance of PID control. The experimental results show that the PID control can be a simple and reliable control scheme to provide an active compliance control through direct force control. In addition, different compliance level is feasible particularly for a stiff spongy ball.

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: 3-finger adaptive robot gripper; motor current; FSR force sensor; encoder position; open-loop; force control; PID control
Subjects: T Technology > T Technology (General)
Divisions: Faculty of Engineering Technology > Department of Electrical Engineering Technology
Depositing User: Mr. Mohammad Shaifulrip Ithnin
Date Deposited: 09 May 2017 07:33
Last Modified: 09 May 2017 07:33
URI: http://eprints.uthm.edu.my/id/eprint/8424
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