Implementation of PID, bang-bang and backstepping controllers on 3D printed ambidextrous robot hand

Abstract

Robot hands have attracted increasing research interest in recent years due to their high demand in industry and wide scope in number of applications. Almost all researches done on the robot hands were aimed at improving mechanical design, clever grasping at different angles, lifting and sensing of different objects. In this chapter, we presented the detail classification of control systems and reviewed the related work that has been done in the past. In particular, our focus was on control algorithms implemented on pneumatic systems using PID controller, Bang-bang controller and Backstepping controller. These controllers were tested on our uniquely designed ambidextrous robotic hand structure and results were compared to find the best controller to drive such devices. The five finger ambidextrous robot hand offers total of 13° of freedom (DOFs) and it can bend its fingers in both ways left and right offering full ambidextrous functionality by using only 18 pneumatic artificial muscles (PAMs).