DefinePK

Abstract

This paper describes the method of finding the estimated plant transfer function of a low-cost robot gripper system by using the MATLAB System Identification Toolbox (SIT). The best output signal of the gripper is obtained in particular by introducing a fast response step input (i.e. big slope) and a slow response step input (i.e. small slope). The test is based on the hardware setup which consists of a low-cost robot gripper, a closed-loop DC servo motor with position feedback, the Arduino IO hardware control and data acquisition. The results show that the obtained output signal is sufficient to represent the low-cost robot gripper transfer function by using a slow response step input. The PID control is employed and the results show that the gripping performance is satisfactorily achieved in simulation and experiment.