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JRM Vol.28 No.4 pp. 568-578
doi: 10.20965/jrm.2016.p0568
(2016)

Paper:

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Operator-Based Robust Nonlinear Control Design of a Robot Arm with Micro-Hand

Zhengxiang Ma*, Aihui Wang**, and Tiejun Chen*

*School of Electric Engineering, Zhengzhou University
No.100, Science Road, Zhengzhou 450001, China

**School of Electric and Information Engineering, Zhongyuan University of Technology
41 Zhongyuan Road, Zhengzhou 450007, China

Received:
February 1, 2016
Accepted:
June 8, 2016
Published:
August 20, 2016
Creative Commons License
Keywords:
robot arm, micro-hand, robust right coprime factorization, robust control
Abstract
This work focuses on a robust nonlinear control design of a robot arm with micro-hand (RAMH) by using operator-based robust right coprime factorization (RRCF) approach. In the proposed control system, we can control the endpoint position of robot arm and obtain the desired force of micro-hand to perform a task, and a miniature pneumatic curling soft (MPCS) actuator which can generate bidirectional curling motions in different positive and negative pressures is used to develop the fingers of micro-hand. In detail, to control successively the precise position of robot arm and the desired force of three fingers according to the external environment or task involved, this paper proposes a double-loop feedback control architecture using operator-based RRCF approach. First, the inner-loop feedback control scheme is designed to control the angular position of the robot arm, the operator controllers and the tracking controller are designed, and the robust stability and tracking conditions are derived. Second, the complex stable inner-loop and micro-hand with three fingers are viewed as two right factorizations separately, a robust control scheme using operator-based RRCF approach is presented to control the fingers forces, and the robust tracking conditions are also discussed. Finally, the effectiveness of the proposed control system is verified by experimental and simulation results.
Robot arm with micro-hand system

Robot arm with micro-hand system

Cite this article as:
Z. Ma, A. Wang, and T. Chen, “Operator-Based Robust Nonlinear Control Design of a Robot Arm with Micro-Hand,” J. Robot. Mechatron., Vol.28 No.4, pp. 568-578, 2016.
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