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Modular motor driver with torque control for gripping mechanism

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dc.citedby2
dc.contributor.authorHow D.N.T.en_US
dc.contributor.authorBaharuddin M.Z.en_US
dc.contributor.authorMohideen S.S.K.en_US
dc.contributor.authorSahari K.S.M.en_US
dc.contributor.authorAnuar A.en_US
dc.contributor.authorid56942483000en_US
dc.contributor.authorid35329255600en_US
dc.contributor.authorid55701570700en_US
dc.contributor.authorid57218170038en_US
dc.contributor.authorid13609166500en_US
dc.date.accessioned2023-12-29T07:47:10Z
dc.date.available2023-12-29T07:47:10Z
dc.date.issued2012
dc.description.abstractThis paper presents the algorithms for controlling the torque of a DC motor via a motor driver. Controlling the torque of the DC motor is achieved via PWM variations. The core of the project lies in the capability of the algorithm to regulate PWM to the motor by sensing the average current flow. This algorithm, when implemented on a DC motor that is coupled to a gripping actuator will enable the actuator to have torque control to grasp an object. Torque control algorithm in a gripping actuator will allow sufficient force to be exerted to the object grasped without damaging the object. Apart from that, this algorithm will also protect the hardware of the actuator to ensure it is operating within the continuous current rating of the motor and driver. This is possible by taking in the magnitude of the current drawn by the load as the feedback to the system and set appropriate action to protect the system from damage when a certain setpoint of current is reached. In implementing the project, several algorithms were tested to achieve the torque control algorithm requirement including on-off algorithm, P algorithm, PI algorithm, PD algorithm and PID algorithm. Using the same hardware configuration, the different algorithms produced different outcomes on the output of the controller. The output of the controller is monitored on a computer via serial communication. The serial communication over the USB port on the computer is done by utilizing the Processing programming language and integrated development environment (IDE). This software will enable the output of the controller to be mapped on the computer monitor to provide a real-time graphical view of the output values to the user. These graphical outputs of the controller was evaluated based on the response time, degree of overshooting, and steady-state error to determine the most optimal method of control to be implemented in torque control scheme. The advantage of this method is the minimal cost incurred and the system built does not involve complex feedback system. The application of this system for now is limited to controlling motors connected directly to the load (gripper) without passing through any gear conversions. � 2012 The Authors.en_US
dc.description.natureFinalen_US
dc.identifier.doi10.1016/j.proeng.2012.07.338
dc.identifier.epage1482
dc.identifier.scopus2-s2.0-84901054405
dc.identifier.spage1476
dc.identifier.urihttps://www.scopus.com/inward/record.uri?eid=2-s2.0-84901054405&doi=10.1016%2fj.proeng.2012.07.338&partnerID=40&md5=119c44a8f33e1cc5eb59c45cbe059b4d
dc.identifier.urihttps://irepository.uniten.edu.my/handle/123456789/30376
dc.identifier.volume41
dc.pagecount6
dc.publisherElsevier Ltden_US
dc.relation.ispartofAll Open Access; Gold Open Access
dc.sourceScopus
dc.sourcetitleProcedia Engineering
dc.subjectCurrent flow sensing
dc.subjectDC motor control
dc.subjectGripping actuator
dc.subjectPD controller
dc.subjectPI controller
dc.subjectPID controller
dc.subjectTorque control
dc.titleModular motor driver with torque control for gripping mechanismen_US
dc.typeConference paperen_US
dspace.entity.typePublication
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