DEVELOPMENT AND CONTROL DESIGN FOR LINEAR ACTUATED FINGER (LAF)

Authors

  • Ellyana Shaira Abd Aziz Rehabilitation Engineering and Assistive Technology Research Laboratory
  • Muhammad Nizam Kamarudin Advanced Control Research Laboratory
  • Mohd Hafiz Jali Robotics and Industrial Automation Research Group (RIA) Centre for Robotics and Industrial Automation (CeRIA) Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka (UTeM) Malaysia

Keywords:

Linear Actuated Finger(LAF); System identification; PID controller; Ziegler-Nichols Rules;

Abstract

In this paper, Linear Actuated Finger (LAF) is developed by means of Solidwork® software. The model is fabricated using three-dimensional printer. The heart of the LAF is supported by a highly flexible, configurable and compact Miniature Linear Actuators (MLA). Motor driver is configured with the LAF system to ensure the drivability and controllability of the system. System identification approach is used to obtain the mathematical model of the LAF system where the system behaves as a type-0 third-order system. The identification phase exploits the input-output data that represented by the voltagedisplacement relation of the LAF. To validate the controllability of the fabricated LAF system, Proportional-Integral-Derivative (PID) controller is designed by using Ziegler-Nichols tuning method. The transient and steady-state performance of the LAF is presented in the simulation results.

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Published

01-06-2017

Issue

Vol. 2 No. 1 (2017)

Section

Articles

License

Journal of Engineering Technology (JET)  is an open-access journal that follows the Creative Commons Attribution-Non-commercial 4.0 International License (CC BY-NC 4.0)

How to Cite

Ellyana Shaira Abd Aziz, Muhammad Nizam Kamarudin, & Mohd Hafiz Jali. (2017). DEVELOPMENT AND CONTROL DESIGN FOR LINEAR ACTUATED FINGER (LAF). Malaysian Journal of Industrial Technology , 2(1), 1-6. https://ejournal.unikl.edu.my/index.php/mjit/article/view/520