Title: A precise control method for gripping force of underactuated grasping robotic arm

Authors: Hui Cao

Addresses: Department of Basic Teaching, Henan Polytechnic Institute, No. 666 Kongming Road, Wancheng District, Nanyang, Henan, 473000, China

Abstract: This study aims to improve the success rate, accuracy, and stability of robotic arm grasping, and proposes a precise control method for the gripping force of underactuated grasping robotic arm based on improved PID. Firstly, the Denavit Hartenberg parameter method is used to determine the kinematic relationship between the end effector pose and joint angle of the robotic arm, and a dynamic model is established to analyse the motion behaviour and force situation of the robotic arm. Secondly, adjust the parameters of the PID controller to meet the control requirements under different working conditions. Finally, the PID control method is improved by adjusting the force distribution between each circuit through a multivariable PID method, achieving precise control of the gripping force of the underactuated grasping robotic arm. The experimental results show that the proposed method can improve the success rate, accuracy, and stability of grasping.

Keywords: underdrive; mechanical arm; clamping force; dynamic model; Denavit Hartenberg parameter method; multivariable PID control.

DOI: 10.1504/IJMIC.2024.144030

International Journal of Modelling, Identification and Control, 2024 Vol.45 No.4, pp.218 - 224

Received: 06 Mar 2024
Accepted: 05 Jun 2024
Published online: 21 Jan 2025 *

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