1. UKM Learning and Research Repository
  2. Journal Article / Artikel Jurnal
  3. Journal Content Pages/ Kandungan Halaman Jurnal
Please use this identifier to cite or link to this item: https://ptsldigital.ukm.my/jspui/handle/123456789/578454
Full metadata record
DC FieldValueLanguage
dc.contributor.authorSalleh N. M (UITM)
dc.contributor.authorShauri R. L. A (UITM)
dc.contributor.authorNasir K (UITM)
dc.contributor.authorRemeli N. H (UITM)
dc.contributor.authorKamal M. M (UITM)
dc.date.accessioned2023-11-06T03:02:04Z-
dc.date.available2023-11-06T03:02:04Z-
dc.date.issued2017-07
dc.identifier.issn0128-7680
dc.identifier.otherukmvital:115940
dc.identifier.urihttps://ptsldigital.ukm.my/jspui/handle/123456789/578454-
dc.descriptionIn an earlier study, a three-fingered robot hand was developed for assembly work. Proportional Integral Derivative (PID) control was used to control the position of a DC micromotor measured by an encoder. However, PID control alone could not cater the nonlinearities due to friction of gears and varying loads applied to the finger. Therefore, in order to develop an intelligent control algorithm in future, the effects of varying PID gains need to be investigated to distinguish the optimal value that could produce the best transient response performance. This paper discusses the effect of varying PID gains on position transient response of the joint motor of robot hand through real-time experiments. Several ranges of KP, KI and KD were identified based on the required transient response parameters such as percentage overshoot (%OS), settling time (TS) of within 2%, steady state error (SSE) and rise time (TR). The gains are tuned across the range by a fixed interval with the tuning order starting from KP, KI and KD. It can be observed that the suitable ranges of PID are 0.3 to 0.5 for KP, 1.15 to 1.45 for KI and 0.10 to 0.14 for KD. Meanwhile, the optimum value of 0.4, 1.45 and 0.10 for KP, KI and KD respectively is found to produce 0 of % OS, 5.09 sec of TS and 2.48 sec of TR. Hence, the gains can be applied to the development of an improved position control using intelligent method for the robot hand in future works.
dc.language.isoen
dc.publisherUniversiti Putra Malaysia Press
dc.relation.haspartPertanika Journals
dc.relation.urihttp://www.pertanika.upm.edu.my/regular_issues.php?jtype=2&journal=JST-25-S-7
dc.rightsUKM
dc.subjectPID control
dc.subjectPID parameter tuning
dc.subjectPosition control
dc.subjectTransient response
dc.subjectRealeal-time experiment
dc.titleThe Effect of Varying PID Gains on Position Transient Response of a Robotic Hand System
dc.typeJournal Article
dc.format.volume25
dc.format.pages43-52
dc.format.issueSpecial Issue
Appears in Collections:Journal Content Pages/ Kandungan Halaman Jurnal

Files in This Item:
File Description SizeFormat 
ukmvital_115940+Source01+Source010.PDF1.72 MBAdobe PDFThumbnail
View/Open
Show simple item record Recommend this item


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.