A Modified Optimal Control Strategy for a Five-Finger Robotic

Cheng-Hung Chen; D. Subbaram Naidu

doi:10.15377/2409-9694.2014.01.01.1

Articles

Vol. 1 No. 1 (2014)

A Modified Optimal Control Strategy for a Five-Finger Robotic

Cheng-Hung Chen⁺⁻
D. Subbaram Naidu⁺⁻

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DOI: https://doi.org/10.15377/2409-9694.2014.01.01.1
Submitted: March 10, 2014
Published: 10.03.2014

Abstract

This paper addresses a modified optimal control strategy for a 14-degrees-of-freedom, five-finger robotic hand to improve accuracy and reduce convergence time by modifying the performance index embedded with an exponential term. First, the trajectory planning of the joints of each finger is designed by using cubic polynomial. Then the kinematic and dynamic equations of the robotic hand and feedback linearization technique are employed. Next, the original and modified optimal control methods are applied to the robotic hand. Finally, simulations show that the proposed modified optimal control technique provides much faster response with high accuracy compared to a hybrid genetic algorithm-tuned PID control.

References

Chen C-H, Naidu DS, Perez-Gracia A, Schoen MP. A hybrid control strategy for five-fingered smart prosthetic hand, in Joint 48th IEEE Conference on Decision and Control (CDC) and 28th Chinese Control Conference (CCC), Shanghai, P. R. China, December 16-18 2009; pp. 5102-5107.
Chen C-H, Naidu DS. Hybrid genetic algorithm PID control for a five-fingered smart prosthetic hand, in Proceedings of the 6th International Conference on Circuits, Systems and Signals (CSS’11), Vouliagmeni Beach, Athens, Greece, March 7-9 2012; pp. 57-63.
Subudhi B, Morris AS. Soft computing methods applied to the control of a flexible robot manipulator. Applied Soft Computing 2009; 9: 149-158. http://dx.doi.org/10.1016/j.asoc.2008.02.004
Liu F, Chen H. Motion control of intelligent underwater robot based on CMAC-PID, in Proceedings of the 2008 IEEE International Conference on Information and Automation, Zhangjiajie, China, June 20-23 2008; pp. 1308-1311.
Naidu D. Optimal Control Systems. Boca Raton, FL: CRC Press 2003.
Chen C-H, Naidu DS, Perez-Gracia A, Schoen MP. A hybrid optimal control strategy for a smart prosthetic hand, in Proceedings of the ASME 2009 Dynamic Systems and Control Conference (DSCC), Hollywood, California, USA, October 12-14 2009; (No. DSCC2009-2507).
Kim K, Colgate JE. Haptic feedback enhances grip force control of sEMG-controlled prosthetic hands in targeted reinnervation amputees. IEEE Transactions on Neural Systems and Rehabilitation Engineering 2012; 20(6): 798- 805. http://dx.doi.org/10.1109/TNSRE.2012.2206080
Kamavuako EN, Rosenvang JC, Bøg MF, Smidstrup A, Erkocevic E, Niemeier MJ, Jensen W, Farina D. Influence of the feature space on the estimation of hand grasping force from intramuscular EMG. Biomedical Signal Processing and Control 2013; 8: 1-5. http://dx.doi.org/10.1016/j.bspc.2012.05.002
Engeberg ED. A physiological basis for control of a prosthetic hand. Biomedical Signal Processing and Control 2013; 8: 6- 15. http://dx.doi.org/10.1016/j.bspc.2012.06.003
Naidu DS, Chen C-H, Perez A, Schoen MP. Control strategies for smart prosthetic hand technology: An overview, in The 30th Annual International Conference of the IEEE Engineering Medicine and Biology Society (EMBS), Vancouver, Canada, August 20-24 2008; pp. 4314-4317.
Naidu DS, Chen C-H. Automatic Control Techniques for Smart Prosthetic Hand Technology: An Overview, book chapter 12, to appear in a book titled “Distributed Diagnosis and Home Healthcare (D2H2): Volume 2”. California, USA: American Scientific Publishers 2011.
Chen C-H, Naidu DS, Schoen MP. Adaptive control for a fivefingered prosthetic hand with unknown mass and inertia. World Scientific and Engineering Academy and Society (WSEAS) Journal on Systems 2011; 10(5): 148-161.
Chen C-H, Naidu DS. Hybrid control strategies for a fivefinger robotic hand. Biomedical Signal Processing and Control 2013; 8(4): 382-390. http://dx.doi.org/10.1016/j.bspc.2013.02.003
Lavangie PK, Norkin CC. Joint Structure and Function: A Comprehensive Analysis, Third Edition. Philadelphia, PA: F. A. Davis Company 2001.
Arimoto S. Control Theory of Multi-fingered Hands: A Modeling and Analytical-Mechanics Approach for Dexterity and Intelligence. London, UK: Springer-Verlag 2008.

Keywords

Robotic Hand, Optimal Control, Hybrid Control, PID Control, Genetic Algorithm, Prosthetic Hand.

How to Cite

Cheng-Hung Chen, & D. Subbaram Naidu. (2014). A Modified Optimal Control Strategy for a Five-Finger Robotic. International Journal of Robotics and Automation Technology, 1(1), 3–10. https://doi.org/10.15377/2409-9694.2014.01.01.1

[1] Chen C-H, Naidu DS, Perez-Gracia A, Schoen MP. A hybrid control strategy for five-fingered smart prosthetic hand, in Joint 48th IEEE Conference on Decision and Control (CDC) and 28th Chinese Control Conference (CCC), Shanghai, P. R. China, December 16-18 2009; pp. 5102-5107.

[2] Chen C-H, Naidu DS. Hybrid genetic algorithm PID control for a five-fingered smart prosthetic hand, in Proceedings of the 6th International Conference on Circuits, Systems and Signals (CSS’11), Vouliagmeni Beach, Athens, Greece, March 7-9 2012; pp. 57-63.

[3] Subudhi B, Morris AS. Soft computing methods applied to the control of a flexible robot manipulator. Applied Soft Computing 2009; 9: 149-158. http://dx.doi.org/10.1016/j.asoc.2008.02.004

[4] Liu F, Chen H. Motion control of intelligent underwater robot based on CMAC-PID, in Proceedings of the 2008 IEEE International Conference on Information and Automation, Zhangjiajie, China, June 20-23 2008; pp. 1308-1311.

[5] Naidu D. Optimal Control Systems. Boca Raton, FL: CRC Press 2003.

[6] Chen C-H, Naidu DS, Perez-Gracia A, Schoen MP. A hybrid optimal control strategy for a smart prosthetic hand, in Proceedings of the ASME 2009 Dynamic Systems and Control Conference (DSCC), Hollywood, California, USA, October 12-14 2009; (No. DSCC2009-2507).

[7] Kim K, Colgate JE. Haptic feedback enhances grip force control of sEMG-controlled prosthetic hands in targeted reinnervation amputees. IEEE Transactions on Neural Systems and Rehabilitation Engineering 2012; 20(6): 798- 805. http://dx.doi.org/10.1109/TNSRE.2012.2206080

[8] Kamavuako EN, Rosenvang JC, Bøg MF, Smidstrup A, Erkocevic E, Niemeier MJ, Jensen W, Farina D. Influence of the feature space on the estimation of hand grasping force from intramuscular EMG. Biomedical Signal Processing and Control 2013; 8: 1-5. http://dx.doi.org/10.1016/j.bspc.2012.05.002

[9] Engeberg ED. A physiological basis for control of a prosthetic hand. Biomedical Signal Processing and Control 2013; 8: 6- 15. http://dx.doi.org/10.1016/j.bspc.2012.06.003

[10] Naidu DS, Chen C-H, Perez A, Schoen MP. Control strategies for smart prosthetic hand technology: An overview, in The 30th Annual International Conference of the IEEE Engineering Medicine and Biology Society (EMBS), Vancouver, Canada, August 20-24 2008; pp. 4314-4317.

[11] Naidu DS, Chen C-H. Automatic Control Techniques for Smart Prosthetic Hand Technology: An Overview, book chapter 12, to appear in a book titled “Distributed Diagnosis and Home Healthcare (D2H2): Volume 2”. California, USA: American Scientific Publishers 2011.

[12] Chen C-H, Naidu DS, Schoen MP. Adaptive control for a fivefingered prosthetic hand with unknown mass and inertia. World Scientific and Engineering Academy and Society (WSEAS) Journal on Systems 2011; 10(5): 148-161.

[13] Chen C-H, Naidu DS. Hybrid control strategies for a fivefinger robotic hand. Biomedical Signal Processing and Control 2013; 8(4): 382-390. http://dx.doi.org/10.1016/j.bspc.2013.02.003

[14] Lavangie PK, Norkin CC. Joint Structure and Function: A Comprehensive Analysis, Third Edition. Philadelphia, PA: F. A. Davis Company 2001.

[15] Arimoto S. Control Theory of Multi-fingered Hands: A Modeling and Analytical-Mechanics Approach for Dexterity and Intelligence. London, UK: Springer-Verlag 2008.