Model identification of a low-cost robot gripper by using MATLAB system identification toolbox (SIT)
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...
| Main Authors: | , , |
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| 格式: | 文件 |
| 语言: | English |
| 出版: |
Asian Research Publishing Network (ARPN).
2016
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| 主题: | |
| 在线阅读: | http://eprints.uthm.edu.my/4232/1/AJ%202016%20%2825%29.pdf |
| _version_ | 1825709805473366016 |
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| author | Sadun, Amirul Syafiq Jalani, Jamaludin Abdul Sukor, Jumadi |
| author_facet | Sadun, Amirul Syafiq Jalani, Jamaludin Abdul Sukor, Jumadi |
| author_sort | Sadun, Amirul Syafiq |
| collection | UTHM |
| description | 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. |
| first_indexed | 2024-03-05T21:47:59Z |
| format | Article |
| id | uthm.eprints-4232 |
| institution | Universiti Tun Hussein Onn Malaysia |
| language | English |
| last_indexed | 2024-03-05T21:47:59Z |
| publishDate | 2016 |
| publisher | Asian Research Publishing Network (ARPN). |
| record_format | dspace |
| spelling | uthm.eprints-42322021-12-01T07:03:44Z http://eprints.uthm.edu.my/4232/ Model identification of a low-cost robot gripper by using MATLAB system identification toolbox (SIT) Sadun, Amirul Syafiq Jalani, Jamaludin Abdul Sukor, Jumadi TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) 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. Asian Research Publishing Network (ARPN). 2016 Article PeerReviewed text en http://eprints.uthm.edu.my/4232/1/AJ%202016%20%2825%29.pdf 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 |
| spellingShingle | TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) Sadun, Amirul Syafiq Jalani, Jamaludin Abdul Sukor, Jumadi Model identification of a low-cost robot gripper by using MATLAB system identification toolbox (SIT) |
| title | Model identification of a low-cost robot gripper by using MATLAB system identification toolbox (SIT) |
| title_full | Model identification of a low-cost robot gripper by using MATLAB system identification toolbox (SIT) |
| title_fullStr | Model identification of a low-cost robot gripper by using MATLAB system identification toolbox (SIT) |
| title_full_unstemmed | Model identification of a low-cost robot gripper by using MATLAB system identification toolbox (SIT) |
| title_short | Model identification of a low-cost robot gripper by using MATLAB system identification toolbox (SIT) |
| title_sort | model identification of a low cost robot gripper by using matlab system identification toolbox sit |
| topic | TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) |
| url | http://eprints.uthm.edu.my/4232/1/AJ%202016%20%2825%29.pdf |
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