Robust Control for the Motion Five Fingered Robot Gripper W. Widhiada, T. G. T. Nindhia, and N. Budiarsa University of Udayana, Denpasar, Indonesia Email: {widhiwyn, nindhia}@yahoo.com, budiarsa_nyoman@yahoo.co.id Abstract—The design of multi-fingered robot hands have been one of the major research topics since grasping an object and are crucial functionalities of several robotic systems, including industrial robots, mobile robots and service robots. The author considers the problem of model- based control for a multi-fingered robot hand. This paper introduces an integrated design process for the design of the five fingered gripper suitable for dexterous motion by using simulation and experiment of prototype. To facilitate an integrated design of gripper finger, the author applied Matlab/Simulink (SimMechanics) and Inventor software packages, respectively. Multi-closed loop with the robust control of PID is applied to control both kinematics and dynamics motions of the five fingered gripper systems. To obtain the optimal trajectory planning approach using motion reference and integration of planning control for virtual actuators at each joint of finger gripper system. The analysis of experiment result shows the trajectory angular position of each finger link moves towards quickly to achieve the trajectory angle target with small error signal and overshoot. Index Terms—multi fingered robot, kinematics and dynamics motions, robust control of PID. I. INTRODUCTION Robot technology has seen development to support both the needs of industry and human life. In human interaction the robot is usually considered to interact with the end user using ‘hands’ whist in industrial activity the ‘hand is usually termed as a ‘gripper’. The robotics programmed to accomplish complex issues that interact with the environment. Robots designed to interact with humans in a human manner will often require the hands and such robotic systems are referred to as humanoid. There are several published studies into the development of human hand behaviour into humanoid [1]. Other humanoid research has been more focused on applications such as humanoid robot [2]. In each of these cases their hands have been designed to conform to different criteria. A robot gripper is the physical realization of an electromechanical system to perform physical handling tasks automatically. A robot griper is an essential element of the robotic system and it is designed to suit industrial application to typically grasp, carry, manipulate and assemble the components. Greg Causey has shown that Manuscript received March 10, 2015; revised June11, 2015. proper gripper design can simplify the overall assembly, improving overall reliability system, and reduce implementation costs, and grippers have been widely used for automated manufacturing, assembly and packaging, etc. [3]. During the last three decades, the application of robotic grippers has gradually developed for grasping a variety of tasks from using a simple mechanism to multiple degree of freedom of design. Most robotic grippers have been specifically designed only to grasp on certain traditional forms of object. In this study the author has researched into the design, analysis and synthesis of sophisticated of five fingered gripper. The design of a gripper finger is a difficult task with many considerations such as task requirements, geometry of gripper and the complexity of mechanism[4]. Traditionally, a physical prototype is necessary to truly test a hand’s ability to perform a variety of tasks, but this can be quite costly with potentially many design iterations being required. However to reduce prototyping costs, simulation techniques provides another tool which enables the modern designer to model (simulate) the kinematics and dynamics of physical systems and to quickly investigate the performance of the design. Simulation has been recognized as a powerful tool for supporting the design, planning, and analysis of dynamics performance of robotic grippers [5]. In this work simulation results and visualization of the dynamics of a robotic gripper are presented. In this research study, the author has focused upon investigating how to develop the modeling and controlling the dexterous of five fingered gripper. The gripper finger can grasp and manipulate the engineering component. In this study, authors will build both a design and a prototype robot gripper five fingers. This gripper design will resemble a human hand. This robot will have 11 rotary joints (revolute joint). PID control is used to control the kinematics and dynamics robot gripper to achieve the best performance include quickly response and high accuracy respectively. The application of PID control in simulation for the five fingered gripper is capable to accelerate the motion response gripper fingers. Quickly response makes driving a small error signal so as the calm conditions (steady state) will be obtained very quickly as well. PID control system design with Matlab software is robust control to achieve the good performance [6]. 226 © 2015 Int. J. Mech. Eng. Rob. Res. International Journal of Mechanical Engineering and Robotics Research Vol. 4, No. 3, July 2015 doi: 10.18178/ijmerr.4.3.226-232