Sensorless force estimation on fingertip with gravitational compensation for heavy-duty pneumatic tri-grasper robot
The paper presents the proposed sensorless force estimator design for pneumatic robot fingertip by using gravitational compensation and pressure changed in pneumatic cylinder piston. The approach is done to replace the commercial force sensor that may be expensive for heavy-duty configuration. The f...
| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
| Language: | English English |
| Published: |
IET Digital Library
2022
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| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/38605/1/Sensorless%20Force%20Estimation%20on%20Fingertip%20with%20Gravitational%20Compensation%20for%20Heavy.pdf http://umpir.ump.edu.my/id/eprint/38605/2/Sensorless_force_estimation_on_fingertip_with_gravitational_compensation_for_heavy-duty_pneumatic_tri-grasper_robot.pdf |
| _version_ | 1796995896111529984 |
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| author | A., Irawan Putra Azahar, M. I. Hashimi, M. A. |
| author_facet | A., Irawan Putra Azahar, M. I. Hashimi, M. A. |
| author_sort | A., Irawan |
| collection | UMP |
| description | The paper presents the proposed sensorless force estimator design for pneumatic robot fingertip by using gravitational compensation and pressure changed in pneumatic cylinder piston. The approach is done to replace the commercial force sensor that may be expensive for heavy-duty configuration. The formulation was done by considering the torque of robot's finger joint, finger dimension as well as its actuator and the different pressures in cylinder piston. The gravitational force is calculated from the geometry of the robot's finger as dynamic gain for the force of pneumatic cylinder. The proposed method is validated on a heay-duty pneumatic Tri-grasper Robot with the simple basic movement and blocked randomly by human barehand. The results show that the force output by the estimator is almost identical to the loadcell sensor that attached on the fingertip at about 2% error in average. The sensitivity is a bit low for small and fragile material but enough for heavy-duty application that generally with hard and rough surfaces. |
| first_indexed | 2024-03-06T13:09:01Z |
| format | Conference or Workshop Item |
| id | UMPir38605 |
| institution | Universiti Malaysia Pahang |
| language | English English |
| last_indexed | 2024-03-06T13:09:01Z |
| publishDate | 2022 |
| publisher | IET Digital Library |
| record_format | dspace |
| spelling | UMPir386052023-09-13T08:21:09Z http://umpir.ump.edu.my/id/eprint/38605/ Sensorless force estimation on fingertip with gravitational compensation for heavy-duty pneumatic tri-grasper robot A., Irawan Putra Azahar, M. I. Hashimi, M. A. TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering The paper presents the proposed sensorless force estimator design for pneumatic robot fingertip by using gravitational compensation and pressure changed in pneumatic cylinder piston. The approach is done to replace the commercial force sensor that may be expensive for heavy-duty configuration. The formulation was done by considering the torque of robot's finger joint, finger dimension as well as its actuator and the different pressures in cylinder piston. The gravitational force is calculated from the geometry of the robot's finger as dynamic gain for the force of pneumatic cylinder. The proposed method is validated on a heay-duty pneumatic Tri-grasper Robot with the simple basic movement and blocked randomly by human barehand. The results show that the force output by the estimator is almost identical to the loadcell sensor that attached on the fingertip at about 2% error in average. The sensitivity is a bit low for small and fragile material but enough for heavy-duty application that generally with hard and rough surfaces. IET Digital Library 2022 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/38605/1/Sensorless%20Force%20Estimation%20on%20Fingertip%20with%20Gravitational%20Compensation%20for%20Heavy.pdf pdf en http://umpir.ump.edu.my/id/eprint/38605/2/Sensorless_force_estimation_on_fingertip_with_gravitational_compensation_for_heavy-duty_pneumatic_tri-grasper_robot.pdf A., Irawan and Putra Azahar, M. I. and Hashimi, M. A. (2022) Sensorless force estimation on fingertip with gravitational compensation for heavy-duty pneumatic tri-grasper robot. In: Engineering Technology International Conference (ETIC 2022) , 7 - 8 September 2022 , Virtually hosted by Universiti Malaysia Pahang. pp. 1-5.. ISBN 978-1-83953-782-0 https://ieeexplore.ieee.org/document/10106715 |
| spellingShingle | TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering A., Irawan Putra Azahar, M. I. Hashimi, M. A. Sensorless force estimation on fingertip with gravitational compensation for heavy-duty pneumatic tri-grasper robot |
| title | Sensorless force estimation on fingertip with gravitational compensation for heavy-duty pneumatic tri-grasper robot |
| title_full | Sensorless force estimation on fingertip with gravitational compensation for heavy-duty pneumatic tri-grasper robot |
| title_fullStr | Sensorless force estimation on fingertip with gravitational compensation for heavy-duty pneumatic tri-grasper robot |
| title_full_unstemmed | Sensorless force estimation on fingertip with gravitational compensation for heavy-duty pneumatic tri-grasper robot |
| title_short | Sensorless force estimation on fingertip with gravitational compensation for heavy-duty pneumatic tri-grasper robot |
| title_sort | sensorless force estimation on fingertip with gravitational compensation for heavy duty pneumatic tri grasper robot |
| topic | TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/38605/1/Sensorless%20Force%20Estimation%20on%20Fingertip%20with%20Gravitational%20Compensation%20for%20Heavy.pdf http://umpir.ump.edu.my/id/eprint/38605/2/Sensorless_force_estimation_on_fingertip_with_gravitational_compensation_for_heavy-duty_pneumatic_tri-grasper_robot.pdf |
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