Grasping Profile Control of a Soft Pneumatic Robotic Gripper for Delicate Gripping
Soft pneumatic grippers (SPGs) have garnered significant attention and recognition in various industries owing to their remarkable flexibility, safety, and adaptability. They excel in manipulating delicate, irregularly shaped, and soft objects, surpassing the limitations of conventional grippers. Ho...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-07-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/12/4/107 |
| _version_ | 1827728674997141504 |
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| author | Gridsada Phanomchoeng Patchara Pitchayawetwongsa Nattaphat Boonchumanee Saravut Lin Ratchatin Chancharoen |
| author_facet | Gridsada Phanomchoeng Patchara Pitchayawetwongsa Nattaphat Boonchumanee Saravut Lin Ratchatin Chancharoen |
| author_sort | Gridsada Phanomchoeng |
| collection | DOAJ |
| description | Soft pneumatic grippers (SPGs) have garnered significant attention and recognition in various industries owing to their remarkable flexibility, safety, and adaptability. They excel in manipulating delicate, irregularly shaped, and soft objects, surpassing the limitations of conventional grippers. However, effective control techniques for managing the grasping profile of SPGs are still under development. Simple on–off pressure control using a regulator valve is inadequate for delicate gripping with pneumatic robot grippers. To address this, a synergy pressure control system was implemented. In addition, a proportional–integral–derivative control technique, complemented by an unknown input observer, was devised to control the volume of the soft pneumatic robotic gripper, ensuring its alignment with the desired volume level. The simulation and experimental results provide substantial evidence of the effectiveness of the developed control technique and the unknown input observer in managing the volume and pressure of the gripper. Consequently, this breakthrough empowers precise and delicate gripping actions, enabling the handling of delicate objects such as tofu. |
| first_indexed | 2024-03-10T23:36:19Z |
| format | Article |
| id | doaj.art-1d22162a2ec24b4cb3abbd6f2b273957 |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-03-10T23:36:19Z |
| publishDate | 2023-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-1d22162a2ec24b4cb3abbd6f2b2739572023-11-19T02:55:20ZengMDPI AGRobotics2218-65812023-07-0112410710.3390/robotics12040107Grasping Profile Control of a Soft Pneumatic Robotic Gripper for Delicate GrippingGridsada Phanomchoeng0Patchara Pitchayawetwongsa1Nattaphat Boonchumanee2Saravut Lin3Ratchatin Chancharoen4Department of Mechanical Engineering, Chulalongkorn University, Bangkok 10330, ThailandDepartment of Mechanical Engineering, Chulalongkorn University, Bangkok 10330, ThailandDepartment of Mechanical Engineering, Chulalongkorn University, Bangkok 10330, ThailandDepartment of Mechanical Engineering, Chulalongkorn University, Bangkok 10330, ThailandDepartment of Mechanical Engineering, Chulalongkorn University, Bangkok 10330, ThailandSoft pneumatic grippers (SPGs) have garnered significant attention and recognition in various industries owing to their remarkable flexibility, safety, and adaptability. They excel in manipulating delicate, irregularly shaped, and soft objects, surpassing the limitations of conventional grippers. However, effective control techniques for managing the grasping profile of SPGs are still under development. Simple on–off pressure control using a regulator valve is inadequate for delicate gripping with pneumatic robot grippers. To address this, a synergy pressure control system was implemented. In addition, a proportional–integral–derivative control technique, complemented by an unknown input observer, was devised to control the volume of the soft pneumatic robotic gripper, ensuring its alignment with the desired volume level. The simulation and experimental results provide substantial evidence of the effectiveness of the developed control technique and the unknown input observer in managing the volume and pressure of the gripper. Consequently, this breakthrough empowers precise and delicate gripping actions, enabling the handling of delicate objects such as tofu.https://www.mdpi.com/2218-6581/12/4/107soft gripperpneumatic grippersoft materialPID controlnonlinear observerunknown input observer |
| spellingShingle | Gridsada Phanomchoeng Patchara Pitchayawetwongsa Nattaphat Boonchumanee Saravut Lin Ratchatin Chancharoen Grasping Profile Control of a Soft Pneumatic Robotic Gripper for Delicate Gripping Robotics soft gripper pneumatic gripper soft material PID control nonlinear observer unknown input observer |
| title | Grasping Profile Control of a Soft Pneumatic Robotic Gripper for Delicate Gripping |
| title_full | Grasping Profile Control of a Soft Pneumatic Robotic Gripper for Delicate Gripping |
| title_fullStr | Grasping Profile Control of a Soft Pneumatic Robotic Gripper for Delicate Gripping |
| title_full_unstemmed | Grasping Profile Control of a Soft Pneumatic Robotic Gripper for Delicate Gripping |
| title_short | Grasping Profile Control of a Soft Pneumatic Robotic Gripper for Delicate Gripping |
| title_sort | grasping profile control of a soft pneumatic robotic gripper for delicate gripping |
| topic | soft gripper pneumatic gripper soft material PID control nonlinear observer unknown input observer |
| url | https://www.mdpi.com/2218-6581/12/4/107 |
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