Position Control of Linkage Underactuated Robotic Hand

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, Shaker S. Hasan, . 2015
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In this study a proposed PID control system for (Ca.U.M.Ha) robotic hand with a finger and a thumb is introduced to control grasping cylindrical objects made from different materials soft and hard within a range of (48-150) mm in diameter . Samples of PID response figures for objects that need just a finger, and objects that needs a finger and a thumb were presented. In addition, the figures of actuator voltages needed for grasping in both cases were shown.