MODELING AND MOTION CONTROL OF ROBOTIC HAND FOR TELEMANIPULATION APPLICATION

摘要

This paper presents the process of a motion control system design and implementation for a teleminulation system. The robotic manipulator/hand is a nonlinear system with coupled effects among the joints. By applying the frequency response method, the nonlinear system is modeled as decoupled linear ones, in which each joint is controlled independently. The experimental results show the feasibility of the modeling process. Based on the obtained transfer function of each joint, the digital PID controllers are designed. The motion control system for the telemanipulation system is then implemented using the software package MATLAB, Simulink, Real Time Workshop, xPC Target and a C/C ++ compiler, and the hardware I/O boards, amplifiers, etc. The presented developing procedure shows a convenient way to implement a real time robotic control system.