Autosoft Journal

Online Manuscript Access


Signal Processing for Noise and Online Force Modeling Detection for a Robot Hand Based on EtherCAT Communication


Authors



Abstract

This study proposes three efficient algorithms for online computing of fingertip force modeling and noise involved in 1-D, 2-D and 3-D models. Fast and effective real-time detection for fingertip force modeling is extremely important for successful manipulation on an object by a robot hand in a real situation. Meanwhile, signal processing for a desired force signal is necessary if unwanted signals and noise cannot be ignored in practical applications. Butterworth low-pass filters designed in this study can be effectively used for filtering noise and obtaining flatter and smoother force modeling detection signals. An EtherCAT slave circuit is designed and force detection models using Beckhoff TwinCAT 3.1 provide feedback signals. The calculation is made during several real-time experiments.


Keywords


Pages

Total Pages: 15
Pages: 17-31

DOI
10.1080/10798587.2015.1025481


Manuscript ViewPdf Subscription required to access this document

Obtain access this manuscript in one of the following ways


Already subscribed?

Need information on obtaining a subscription? Personal and institutional subscriptions are available.

Already an author? Have access via email address?


Published

Volume: 22
Issue: 1
Year: 2015

Cite this document


References

Besada-Portas, Eva et al. "Remote Control Laboratory Using EJS Applets and TwinCAT Programmable Logic Controllers." IEEE Transactions on Education 56.2 (2013): 156-164. Crossref. Web. https://doi.org/10.1109/TE.2012.2204754

Cena, Gianluca et al. "Evaluation of EtherCAT Distributed Clock Performance." IEEE Transactions on Industrial Informatics 8.1 (2012): 20-29. Crossref. Web. https://doi.org/10.1109/TII.2011.2172434

Ciancio A. L. International Journal of Advanced Robotic Systems

Dorsam Th Proceedings of the Third IEEE Conference on Fuzzy Systems.

Jorgovanovic, Nikola et al. "Virtual Grasping: Closed-Loop Force Control Using Electrotactile Feedback." Computational and Mathematical Methods in Medicine 2014 (2014): 1-13. Crossref. Web. https://doi.org/10.1155/2014/120357

Markus H. Robotics and Autonomous Systems

Mohammadian, Babak, and Abdolreza Nabavi. "Wideband OFDM Receiver Using Split Spectrum Processing." IEICE Electronics Express 7.19 (2010): 1453-1460. Crossref. Web. https://doi.org/10.1587/elex.7.1453

Palm, Rainer, Boyko Iliev, and Bourhane Kadmiry. "Recognition of Human Grasps by Time-Clustering and Fuzzy Modeling." Robotics and Autonomous Systems 57.5 (2009): 484-495. Crossref. Web. https://doi.org/10.1016/j.robot.2008.10.012

Park, Jaeheung. "The Relationship Between Controlled Joint Torque and End-Effector Force in Underactuated Robotic Systems." Robotica 29.04 (2010): 581-584. Crossref. Web. https://doi.org/10.1017/S0263574710000391

Scharfe H. IEEE International Conference on Robotics and Automation.

Shapiro, Amir, Elon Rimon, and Alon Ohev-Zion. "On the Mechanics of Natural Compliance in Frictional Contacts and Its Effect on Grasp Stiffness and Stability." The International Journal of Robotics Research 32.4 (2013): 425-445. Crossref. Web. https://doi.org/10.1177/0278364912471690

Shoaib, Nosherwan, Imran Shoaib, and Sultan Shoaib. "A Novel Approach to Transform an Open Circuit Series Stub to a Short Circuit Shunt Stub for the Implementation of High-Pass Butterworth Filter." Microwave and Optical Technology Letters 55.3 (2013): 497-501. Crossref. Web. https://doi.org/10.1002/mop.27354

Tommasi, Tatiana et al. "Improving Control of Dexterous Hand Prostheses Using Adaptive Learning." IEEE Transactions on Robotics 29.1 (2013): 207-219. Crossref. Web. https://doi.org/10.1109/TRO.2012.2226386

Treesatayapun, Chidentree. "Adaptive Control Based on IF-THEN Rules for Grasping Force Regulation with Unknown Contact Mechanism." Robotics and Computer-Integrated Manufacturing 30.1 (2014): 11-18. Crossref. Web. https://doi.org/10.1016/j.rcim.2013.07.001

Zheng Y. Journal of Mechanisms and Robotics-Transactions of the ASME

JOURNAL INFORMATION


ISSN PRINT: 1079-8587
ISSN ONLINE: 2326-005X
DOI PREFIX: 10.31209
10.1080/10798587 with T&F
IMPACT FACTOR: 0.652 (2017/2018)
Journal: 1995-Present




CONTACT INFORMATION


TSI Press
18015 Bullis Hill
San Antonio, TX 78258 USA
PH: 210 479 1022
FAX: 210 479 1048
EMAIL: tsiepress@gmail.com
WEB: http://www.wacong.org/tsi/