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Chapter

Interactional Modeling and

Optimized PD Impedance Control
Design for Robust Safe Fingertip
Grasping
Izzat Al-Darraji, Ali Kılıç and Sadettin Kapucu

Abstract

Dynamic and robust control of fingertip grasping is essential in robotic hand

manipulation. This study introduces detailed kinematic and dynamic mathematical
modeling of a two-fingered robotic hand, which can easily be extended to a multi-
fingered robotic hand and its control. The Lagrangian technique is applied as a
common procedure to obtain the complete nonlinear dynamic model. Fingertip
grasping is considered in developing the detailed model. The computed torque
controller of six proportional derivative (PD) controllers, which use the rotation
angle of the joint variables, is proposed to linearize the hand model and to establish
trajectory tracking. An impedance controller of optimized gains is suggested in the
control loop to regulate the impedance of the robotic hand during the interaction
with the grasped object in order to provide safe grasping. In this impedance con-
troller, the gains are designed by applying a genetic algorithm to reach minimum
contact position and velocity errors. The robustness against disturbances is achieved
within the overall control loop. A computer program using MATLAB is used to
simulate, monitor, and test the interactional model and the designed controllers.

Keywords: modeling robotic hand, optimized impedance controller,

linearization the dynamics of robotic hand, fingertip grasping, Lyapunov stability,
Lagrange technique

1. Introduction

A recent research on service robotics has shown that there is an environmental

reaction on major applications [1]. The robotic hand is the main interactive part of
the environment with the service robotics [2, 3]. Grasping operation [4] has been
used explicitly in robotic hand during the interactive period which represents the
process of holding objects via two stages: free motion and constrained motion. Free
motion is the moving of fingers before detecting the grasped object, and the
constrained motion is the state of fingers when the object is detected. The common
purpose in grasping is to handle unknown objects. Thus, finding both a model system
and a control algorithm to deal with non-predefined objects is essential in a robotic
hand. Regarding modeling, interactional modeling is the demand to perform a
specific control algorithm. With interactional modeling, the contact force between

1
Emerging Trends in Mechatronics

the robotic hand and the grasped objects has obtained without needing their prop-
erties. In control point of view, the robotic hand holds an object by its fingers and
moves the object to another place. In this case, there are different modes of opera-
tion which can be listed as before holding the grasped object, holding the grasped
object, and moving the robotic hand while holding the grasped object. The aim at
each mode is distinct to the others and has to respond to the operation assigned.
Thus, the multitude of various goals which have to be achieved with regard to the
various operations presents an interesting scenario in the control of a robotic hand.
Generally, it is essential to obtain the modeling of a multi-fingered robotic hand
before implementing a specific model-based control algorithm. Arimoto et al. [5]
presented a two-fingertip grasping model to control the rolling contact between the
fingertips and the grasped object. Arimoto et al. derived the model through the use
of the Euler-Lagrange equation with respect to the geometry of the fingertips which
is represented by the arc length of a fingertip. Corrales et al. [6] developed a model
for a three-fingered robotic hand; in their study the transmission of fingertip con-
tact force from the hand to the grasped object is considered. Boughdiri et al. [7]
discussed the issue of modeling a multi-fingered robotic hand as a first step, before
designing controllers. They considered free motion only, without the constraints of
grasped objects. In a proceeding work, Boughdiri et al. later [8] considered the
constraints of grasped objects and the coupling between fingers in grasping tasks.
In the control scenario of a robotic-environment interaction, there is generally
also a similar case of a robotic hand-grasped object interaction; force tracking is
necessary to obtain appropriate and safe contacts. In force tracking, three main
position-force controllers are introduced: stiffness control, hybrid position/force
control, and impedance control [9]. Among the above three controllers, impedance
control presents an integrated process to constrained manipulators [10]. The
impedance controller is introduced by Hogan in 1985 to set the dynamic conduct
between the motion of the robot end-effector and the contact force with the envi-
ronment, instead of regarding the control of motion and force individually [11, 12].
Chen et al. [13] derived impedance controller for an elastic joint-type robotic hand
in Cartesian and joint spaces. Chen et al. focused on the compensation of gravity
and managing the parameter of uncertainties. Huang et al. [14] proposed the
impedance controller for grasping by two fingers to deal with the problem of
dropping objects when grasping by one finger. Zhang et al. [15] proposed an adap-
tive impedance controller with friction compensation to track forces of the multi-
fingered robotic hand.
However, the synthesis of impedance control design continues to exist as a major
challenge in the performance advancement of robotic hand in order to provide safe
and robust grasping. Besides this, the greatest problems in robotic hand-grasped
object interaction are the existence of nonlinearity in the dynamic system, dealing
with different grasped objects, disturbances, and interference. In the previous
studies, the aforementioned problems have not taken in consideration. The aim of
this paper is to treat these problems using interactional modeling and the design
gains of impedance control. The action of the suggested control expression is to
provide a fingertip interactional robust control algorithm that takes into account the
dynamics of the robotic hand under unknown contact conditions. To accomplish
this, we propose first to linearize the dynamics on the level of position-tracking
controller through six PD controllers. When executed, the calculated gains of the
designed PD controllers result in zero steady errors without overshoot. Second,
through an impedance controller, the interactional fingertips’ force is regulated by
the robotic hand’s impedance. The gains of the impedance are designed based on
genetic algorithm. As a result, the introduced control expression enables the posi-
tion and velocity of fingertips to be controlled simultaneously without changing

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DOI: http://dx.doi.org/10.5772/intechopen.85531

over control subspace. This control expression avoids selecting between different
controllers which causes indirect control and consumption of high energy. The
operation and the robustness of the presented control expression are approved by
MATLAB/Simulink in several tests.
The rest of the chapter is organized as follows. In Section 2, the mathematical
representation of kinematics and dynamics of the robotic hand with environment
interaction is derived and explained. In Section 3, the overall controllers of position
tracking and impedance control are designed. In addition, the suggested procedure
of obtaining optimum values of impedance gains using genetic algorithm is
explained. In Section 4, following the joint path and fingertip position is tested.
Then, the robustness of the system is examined. Finally, the conclusions of this
study are presented in Section 5.

2. Mathematical model

The models of a robotic hand system are the mathematical equations that
describe all the contact forces and motion of the fingers at any time [16]. These
models are essential for grasping and manipulation operations which include kine-
matics, dynamics, and contacts between the fingers and the environment. A multi-
fingered robotic hand with an existing grasped object has a complex structure.
Thus, deriving the mathematical representation is not a simple task. In this section,
the mathematical representation for a two-fingered robotic hand with an environ-
ment is developed. Changing the orientation of the robotic hand with respect to the
inertial (earth) frame during manipulation operation is considered in this analysis.

2.1 Reference frames

The system is a two-fingered robotic hand that can adjust fingertip grasp forces
by the torque of actuators in the joints. Each finger includes three joints (MCP, PIP,
and DIP) and three rigid phalanges (proximal, intermediate, and distal). The
motion of the finger actuates through the torque in the joints. The variables i ¼ 1, 2
and j ¼ 1, 2, 3 represent the index of the finger and the joint, respectively. The
analysis is based on the four main reference frames: finger frames Oij , hand base
frame Ohb , fingertip contact point frames Otip i , and inertia frame Oe as shown in
Figure 1. The joints MCP, PIP, and DIP are located at Oi1 , Oi2 , and Oi3 ,
respectively. The length Lij represents the distance from Oij to Oiðjþ1Þ . The angle of
rotation θij around zj 1 associates with the ith phalanx and jth joint. The coordinate
frame Oij is attached in order to express the coordinates of any point on the
phalanges as a result of the motion of θij . In our case, expressing the motion of the
fingertip points ðxtip 1 , ytip , ztip 1 Þ and ðxtip 2 , ytip , ztip 2 Þ is the primary interest. The
1 2
frame Ohb is defined to switch between the motions of the fingertips with respect to
the base of the hand through matrices. The frames Otip i are defined to represent the
contact points between the fingertips and the environment. Finally, the inertial
frame Oe which is assumed at Ohb is assigned to represent the orientation of the
robotic hand with respect to the earth.
The result of orienting the robotic hand with respect to the earth coordinates is
expressed by defining the three rotation angles roll, pitch, and yaw (RPY). In
which, roll is (α: around xhb -axis), pitch is (γ: around yhb -axis), and yaw is
(φ: around zhb -axis). Mathematical representation of rotation about a fixed axis
(earth frame) can be expressed by a specified sequence of multiplying the free

3
Emerging Trends in Mechatronics

Figure 1.
Coordinate frames of the robotic hand.

rotation matrices RxðαÞ, RyðγÞ, and RzðφÞ [17]. Thus, the final rotation matrix Rhbe
which switches from the earth frame Oe xe ; ye ; ze to the robotic hand base frame is



obtained as

Rhb


e ¼ R z e y e xe ; yaw; pitch; roll


¼ Rðze ; φÞR ye ; γ Rðxe ; αÞ
2 3
cφ cγ cφ sγ sα sφ cα cφ sγ cα þ sφ sα
¼ 4 sφ cγ sφ sγ sα þ cφ cα sφ sγ cα cφ sα 5: (1)
6 7

sγ c γ sα cγ cα

where s and c indicate the symbols of the sine and cosine functions, respectively.

2.2 Kinematic analysis

Forward kinematics is implemented here to express the relationship between the

Cartesian spaces of the fingertip contact points, which are represented by coordi-
nates (xtip i , ytip , ztip i ) relative to the joint position θij . The positions of fingertip 1
i
and fingertip 2 change by rotating the joints in clockwise and counterclockwise
directions, respectively. According to the coordinate frames and the dimension
parameters of Figure 1, the forward kinematic of finger 1 is expressed as

L0
2 3
6 c123 s123 0 þ L1 c1 þ L2 c12 þ L3 c123 7
2
0
6 7
hb
6 s123 c123 h þ L1 s1 þ L2 s12 þ L3 s123 7
T tip ¼6 7, (2)
1 6
6 0 b 7
0 1 7
4 2 5
0 0 0 1

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and the forward kinematic of finger 2 is

2 L0 3
c123 s123 0 L1 c1 L2 c12 L3 c123
6 2 7
6 7
hb
6 s123 c123 0 h þ L1 s1 þ L2 s12 þ L3 s123 7
T tip ¼6 (3)
6 7
2
7:
6 0 b
0 1
6 7
7
4 2 5
0 0 0 1

where L0 and b are the length and the width of the palm shown in Figure 1,
respectively. In Eqs. (2) and (3) and the rest of equations in this study, the
denotation c1 , s1 , c12 , s12 , c123 , and s123 represents cos θ1 , sin θ1 , cos ðθ1 þ θ2 Þ,
sin ðθ1 þ θ2 Þ, cos ðθ1 þ θ2 þ θ3 Þ, and sin ðθ1 þ θ2 þ θ2 Þ, respectively. To control the
position of the three links, the joint variables θi1 , θi2 , θi3 are calculated using inverse
kinematic as

L1 2 þ L2 2 xtipi 2 ytip 2
1
θi2 ¼ π cos i
, (4)
2L1 L2
ytip xtipi 2 þ ytip 2 þ L1 2 L2 2
1 1
θi1 ¼ tan i
cos i
qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
ffi , (5)
xtipi 2l1 xtipi 2 þ ytip 2
i

θi3 ¼ φie θ1 θ2 : (6)

where φie is the angle of distal phalanx with respect to the axis yi2 . Next, the
Jacobian matrix for each finger is obtained based on the forward kinematic equa-
tions, which were derived from Eqs. (2) and (3) as
2 3
L 1 s1 L2 s12 L3 s123 L2 s12 L3 s123 L3 s123
(7)
6 7
4 L1 c1 þ L2 c12 þ L3 c123
J finger1 ¼ 6 L2 c12 þ L3 c123 L3 c123 7
5,
0 0 0

and

L1 s1 þ L2 s12 þ L3 s123 L2 s12 þ L3 s123 L3 s123

2 3

J finger2 ¼ 4 L1 c1 þ L2 c12 þ L3 c123 L2 c12 þ L3 c123 L3 c123 5, (8)

6 7

0 0 0

The robotic hand transforms the generated torque by each joint to the wrenches
exerted on the grasped object through the following Jacobian matrix:
" #
J finger1 0
J hand ¼ (9)
0
:
J finger2

2.3 Contact interaction

A contact interaction, which uses contact behavior between rigid fingertips and
a flexible grasped object, is proposed in this study (see Figure 2). The grasped
object is assumed as a linear spring of stiffness kobject . Hence, each fingertip exerts a
force on the grasped object as

5
Emerging Trends in Mechatronics

Figure 2.
Side view of fingertip contact interaction system on the x-axis.

 
f tip ¼ kobject xtipx, i xobjectx, i , (10)
x, i
 
f tip ¼ kobject ytip yobject , (11)
y, i y, i y, i
 
f tip ¼ kobject ztipz, i zobjectz, i : (12)
z, i

where xobjecti , yobject , and zobjecti are the coordinate points of the grasped object.
i
The current and the desired location of the fingertips are denoted by (xtipi , ytip , ztipi )
i
and (xdi , ydi , zdi ), respectively.

2.4 Dynamics of robotic hand

The motion equations are derived to describe the dynamics of the robotic hand
when interacting with the grasped object; the explained fingertip forces in
Eqs. (10)–(12) are involved in the dynamic equation. When ignoring friction, each
finger in free motion can be described by the following general motion equation:

(13)




Mfinger1 q1 q€1 þ Dfinger1 q1 ; q_ 1 q_ 1 þ Gfinger1 q1 ¼ τfinger1 ,
(14)




Mfinger2 q2 q€2 þ Dfinger2 q2 ; q_ 2 q_ 2 þ Gfinger2 q2 ¼ τfinger2 ,

where qi ∈ R3 is the general coordinate vector, Mfingeri qi is the 3  3 inertia



matrix, Dfingeri qi ; q_ i is the 3-vector which involves forces of centrifugal and



Coriolis, Gfingeri qi is the vector of the gravitational force, and τfingeri is the vector of



the input torque at joints. When the fingertips are interacting with the grasped
object (see Figure 2), then Eqs. (13) and (14) become

J Tfinger1 Ftip1 , (15)




Mfinger1 q1 q€1 þ Dfinger1 q1 ; q_ 1 q_ 1 þ Gfinger1 q1 ¼ τfinger1

J Tfinger2 Ftip2 , (16)




Mfinger2 q2 q€2 þ Dfinger2 q2 ; q_ 2 q_ 2 þ Gfinger2 q2 ¼ τfinger2

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Interactional Modeling and Optimized PD Impedance Control Design for Robust Safe Fingertip…
DOI: http://dx.doi.org/10.5772/intechopen.85531

where J fingeri is the Jacobian matrix (see Subsection 2.2) and Ftipi is the external
force 3-vector with expression value:
h iT h iT
Ftip1 ¼ f tip f tip f tip and F tip2 ¼ f tipx, 2 f tip
y, 2
f tip
z, 2
;
x, 1 y, 1 z, 1

to derive Eqs. (15) and (16), the Lagrange equations of motion are used. For each
finger manipulator, the equation of motion is given by [18]

d ∂T ∂T
¼ Q j þ Tj: (17)
dt ∂θ_ j ∂θj

where T is the total kinetic energy of the finger manipulator, Q j is the potential
energy, and T j is the external torques. The x-y coordinates are represented
according to the assigned frames of Figure 1. The velocities of the mass centers for
the phalanges are important to find the kinetic energy. For proximal phalanx, the
position of the mass center with respect to MP joint is represented by

x1 ¼ d1 c1 ,
y1 ¼ d1 s1 ;

the position of the mass center of intermediate phalanx with respect to MP joint
is represented by

x2 ¼ L1 c1 þ d2 c12
y2 ¼ L1 s1 þ d2 s12 ;

and the position of the mass center of distal phalanx with respect to MP joint is
represented by

x3 ¼ L1 c1 þ L2 c12 þ d3 c123 ,
y3 ¼ L1 s1 þ l2 s12 þ d3 s123 ,

where di is the distance to the center of mass which is assumed in the middle of
the phalanx. The total kinetic energy of the finger in Eq. (17) is expressed by the
following equation:

1  _ 2 _ 2 1 _ 2 1  _ 2 _ 2 1
_ 2
T ¼ m1 x1 þ y1 þ I1 θ 1 þ m2 x2 þ y2 þ I2 θ 1 þ θ_ 2
2 2 2 2
(18)
1  2 2
 1 2
þ m3 x_ 3 þ y_ 3 þ I3 θ_ 1 þ θ_ 2 þ θ_ 3 ,


2 2
and to obtain the kinetic energy, the above formulas (x1 ,y1 ,x2 ,y2 ,x3 ,y3 ) are
differentiated with time. Lagrangian equations according to Eq. (17) are

d ∂T ∂T
¼ Q 1 þ T1, (19)
dt ∂θ_ 1 ∂θ1
d ∂T ∂T
¼ Q 2 þ T2, (20)
dt ∂θ_ 2 ∂θ2
d ∂T ∂T
¼ Q 3 þ T3, (21)
dt ∂θ_ 3 ∂θ3

7
Emerging Trends in Mechatronics

where
! ! !
∂r1 ∂r2 ∂r3
Q 1 ¼ F1 þ F2 þ F3 , (22)
∂θ1 ∂θ1 ∂θ1
! ! !
∂r1 ∂r2 ∂r3
Q 2 ¼ F1 þ F2 þ F3 , (23)
∂θ2 ∂θ2 ∂θ2
! ! !
∂r1 ∂r2 ∂r3
Q 3 ¼ F1 þ F2 þ F3 : (24)
∂θ3 ∂θ3 ∂θ3
The procedure for calculating Q i is shown in Appendix A. Thus, Eqs. (22)–(24)
become

Q1 ¼ m1 gd1 cos θ1 m2 gl1 cos θ1 m2 gd2 cos ðθ1 þ θ2 Þ m3 gl1 cos θ1

(25)
m3 gl2 cos ðθ1 þ θ2 Þ m3 gd3 cos ðθ1 þ θ2 þ θ3 Þ,
Q2 ¼ m2 gd2 cos ðθ1 þ θ2 Þ m3 gl2 cos ðθ1 þ θ2 Þm3 gd3 cos ðθ1 þ θ2 þ θ3 Þ, (26)
Q3 ¼ m3 gd3 cos ðθ1 þ θ2 þ θ3 Þ; (27)

by using the kinetic energy in Eq. (18) and the potential energy in Eqs. (25)–
(27), it results that Eqs. (19)–(21) after being rearranged in a matrix form result in

θ€i1 θ_ i1
2 32 3 2 32 3 2 3
m11 m12 m13 d11 d12 d13 g i1
J Tfingeri Ftipi :
76 € 7 6 76 _ 7 6 g 7
4 m21 m22 m23 54 θ i2 5 þ 4 d21 d22 d23 54 θ i2 5 þ 4 i2 5 ¼ τf ingeri
6

m31 m32 m33 θ€i3 d31 d32 d33 θ_ i3 g i3

(28)
The formula of matrices’ elements in Eq. (28) is listed in Appendix A. From
Eqs. (15) and (16), the overall dynamics of robotic hand can be constituted as

 q€1  q_ 1
   




Mhand q1 ; q2 þ Dhand q1 ; q_ 1 ; q2 ; q_ 2 þ Ghand q1 ; q2 ¼ τhand F tips ,
q€2 q_ 2
(29)
with the following matrix forms;

" #
0


Mfinger1 q1
Mhand ¼
 ,
0 Mfinger2 q2
" #
0


Dfinger1 q1 ; q_ 1
Dhand ¼  ,
0


Dfinger2 q2 ; q_ 2
"
#
Gfinger1 q1
Ghand ¼
 ,
Gfinger2 q2
" #
τfinger1
τhand ¼ ,
τfinger2
" #
F tip
Ftips ¼ J Thand 1
:
Ftip2

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Interactional Modeling and Optimized PD Impedance Control Design for Robust Safe Fingertip…
DOI: http://dx.doi.org/10.5772/intechopen.85531

Thus, the six motion equations are presented by rearranging Eq. (29) to result in

q€1  q_ 1
   
1
F tips : (30)




¼ Mhand q1 ; q2 Dhand q1 ; q_ 1 ; q2 ; q_ 2 Ghand q1 ; q2 þ τhand
q€2 q_ 2

The desired finger configuration in joint space can be obtained by solving the
above equation, which will be explained later in Section 3.1 for designing the
position-tracking controller.

3. Controller design

The derived mathematical representation is applied using MATLAB/Simulink to

implement the proposed controllers and the tests of this study. The parameters of
the model, which are used in Simulink, are shown in Table 1. The overall control-
lers of the robotic hand are depicted as a complete block diagram in Figure 3. In the
following sections, the design of the controllers is described in detailed.

3.1 Position tracking

Recently, a variant of the PD controller explicitly has been considered in the

control of nonlinear system where the aim is to make the system follow a specific
trajectory [19–22]. The joint angle controller shown in Figure 3 is the inner
feedforward loop which presents the effect of the input torque on the error in
Eq. (30). The detailed block diagram of this controller is shown in Figure 4. The
tracking error is formed by subtracting the joint angle vector (qi ) from the desired
joint angle vector (qdi ) as below:

ei ðtÞ ¼ qdi ðtÞ qi ðtÞ: (31)

The objective is
to minimize this error at any time, by differentiating Eq. (31)
twice, solving for q€1 ; q€2 in Eq. (30), and rearranging the results in terms of the


input torque that yields the following computed torque control equation:
" # !
q€d1 e€1

τhand ¼ Mhand þ Dhand þ Ghand þ Ftips , (32)
q€d2 e€2

Parameter Value Parameter Value

L1 50 mm L3 20 mm

d1 25 mm d3 10 mm

m1 34 g m3 12 g
2
I1 7083 g.mm I3 400 g.mm2

L2 30 mm h 100 mm

d2 15 mm b 50 mm

m2 15 g L0 70 mm

I2 1125 g.mm2

Table 1.
Robotic hand model parameters.

9
Emerging Trends in Mechatronics

Figure 3.
Block diagram of the complete robotic hand controllers.

Figure 4.
PD joint angle controller for each finger.

where e€i is the control input which is selected as six PD controllers with the
following feedback:

e€i ¼ K vi e_ i K pi ei , (33)

where K vi ¼ diagfkvi g and K pi ¼ diag kpi ; hence, the robotic hand input
becomes
" # " #!
q€d1 K v1 e_1 þ K p1 e1
τhand ¼ Mhand þ þ Dhand þ Ghand þ Ftips : (34)
q€d2 K v2 e_ 2 þ K p2 e2

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DOI: http://dx.doi.org/10.5772/intechopen.85531

The system can be stabilized in Eq. (34) by a proper design of PD controller to

track the error errorðtÞ to zero. In which, the input torque at joints results in the
trajectory of reaching the grasped object. According to Eq. (33), the typical transfer
function of the error dynamic in closed-loop approach is

errorðsÞ 1
¼ 2 , (35)
wðsÞ s þ kv s þ kp

where w is the disturbance. Thus, the system is stable for all positive values of kv
and kp . Comparing Eq. (35) with the standard second-order polynomial term
(s2 þ 2λωn s þ ω2n ), we get

kpi ¼ ω2n ,
kvi ¼ 2λωn :

The design of gains is selected for the closed-loop time constant (0:1s); thus

1
ωn ¼ ¼ 10,
0:1
kp ¼ ωn 2 ¼ 100,
kv ¼ 2ωn ¼ 20

where ωn and λ are the natural frequency and the damping coefficient,
respectively.
The stability of robustness analysis by Lyapunov’s direct method is implemented
here to verify the ability of applying the proposed PD controller in real situations
where unmodeled disturbances are included in the actual robotic hand. The effect
of unmodeled disturbances in robotic manipulator can be represented by replacing
the PD controller gain matrices with matrices of nonlinear gains [23]. Considering
the nonlinear matrices gains, the robotic hand input in Eq. (34) becomes
" # " #!
q€d1 K v1 ðe1 Þe_1 þ K p1 ðe1 Þe1
τhand ¼ Mhand þ þ Dhand þ Ghand þ Ftips , (36)
q€d2 K v2 ðe2 Þe_ 2 þ K p2 ðe2 Þe2

where K pi ðei Þ ¼ diag kpi ðei Þ and K vi ðei Þ ¼ diagfkvi ðei Þg are the nonlinear
proportional gain matrix and the nonlinear derivative gain matrix, respectively.
Combining Eq. (32) with Eq. (36), the equation of the closed loop becomes
2 3
2
e1
3 e_1
6 e2 7 6
7 6 e_ 2
7
d6
(37)
7
6 7¼6 7:
dt 4 e_1 5 64 K v1 ðe1 Þe_1 K p1 ðe1 Þe1 7
5
e_ 2 K v2 ðe2 Þe_ 2 K p2 ðe2 Þe2

The stability of Eq. (32) together with Eq. (36) is assumed if there exists ρ . 0
with the following inequality sentences:

kpi ðei Þ ≥ ρ,
kvi ðei Þ ≥ ρ:

The stability analysis is implemented by proposing the following Lyapunov

function:

11
Emerging Trends in Mechatronics

ð e1 ð e2
1 1
V ¼ e_ 1 T e_1 þ e_ 2 T e_2 þ T
ε2 T K p2 ðε2 Þ þ β2 K v2 ðε2 Þ dε2
 
ε1 K p1 ðε1 Þ þ β1 K v1 ðε1 Þ dε1 þ
2 2 0 0

þ β1 e1 T e_1 þ β2 e2 T e_2 :
(38)
Considering the smallest eigenvalues λs i , the limit of βi satisfies

λs 1 fK v1 ðε1 Þg . β1 . 0,
λs 2 fK v2 ðε2 Þg . β2 . 0;

thus
β1
. 0,


kvj 1 εj 1
2

 β2
kvj 2 εj 2 . 0,
2
where j ¼ 1, …, 3. Since β1 , β2 . 0 and kpj εj 1 , kpj εj 2 ≥ ρ; thus



1 2

β1 2
(39)



kpj εj 1 þ β1 kvj 1 εj 1 ≥ ρ,
1 2
β2 2
(40)



kpj εj 2 þ β2 kvj 2 εj 2 ≥ ρ:
2 2
Then, Eq. (38) becomes

1 1
V ¼ ðe_ 1 þ β1 e1 ÞT ðe_ 1 þ β1 e1 Þ þ ðe_ 2 þ β2 e2 ÞT ðe_2 þ β2 e2 Þ
2 2
β1 2 β2 2
ð e1   ð e2  
T T
þ ε1 K p1 ðε1 Þ þ β1 K v1 ðε1 Þ I dε1 þ ε2 K p2 ðε2 Þ þ β2 K v2 ðε2 Þ I dε2 .
0 2 0 2
(41)
The first two terms of Lyapunov function are positive. Regarding the third and
the fourth terms, according to Eqs. (39) and (40), we have

β1 2
ð ej
1  2
 
1
(42)



ε1 kpj εj 1 þ β1 kvj 1 εj 1 dε1 ≥ ρej 1  ,
0
1 2 2
β2 2
ð ej
1  2
 
2
dε2 ≥ ρej 2  ; (43)



ε2 kpj εj 2 þ β2 kvj 2 εj 2
0
2 2 2

thus
β1 2
ð ej  
1
(44)


  
ε1 kpj εj 1 þ β1 kvj 1 εj 1 dε1 ! ∞ when ej 1  ! ∞,
0
1 2
β2 2
ð ej  
2
(45)


  
ε2 kpj εj 2 þ β2 kvj 2 εj 2 dε2 ! ∞ when ej 2  ! ∞:
0
2 2

Equations (44) and (45) result in

β1 2
ð e1
1
 
ε1 T
K p 1 ðε1 Þ þ β1 K v 1 ðε1 Þ dε1 ≥ ρke1 k2 , (46)
0 2 2

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β2 2
ð e2
1
 
ε2 T
K p 2 ðε2 Þ þ β2 K v 2 ðε2 Þ dε2 ≥ ρke2 k2 , (47)
0 2 2

and

β1 2
ð e1  
T
ε1 K p 1 ðε1 Þ þ β1 K v1 ðε1 Þ dε1 ! ∞ when ke1 k ! ∞, (48)
0 2
β2 2
ð e2  
T
ε2 K p 2 ðε2 Þ þ β2 K v2 ðε2 Þ dε2 ! ∞ when ke2 k ! ∞: (49)
0 2

Hence, the Lyapunov function presented in Eq. (38) is globally positive defini-
tive function.
Taking the derivative of Eq. (38) with respect to time, we get

V_ ¼ e_ 1 T e€1 þ e_ 2 T e€2 þ e1 T K p 1 ðe1 Þ þ β1 K v 1 ðe1 Þ e_ 1 þ e2 T K p 2 ðe2 Þ þ β2 K v 2 ðe2 Þ e_ 2 þ β1 e_ 1 T e_ 1

 

þ β1 e1 T e€1 þ β2 e_ 2 T e_ 2 þ β2 e2 T e€2
(50)
Finally, using the rule of Leibnitz for representation, the integrals in differenti-
ation form and Substituting Eq. (37) in (50) yield

V_ ¼ e_ 1 T ½K v 1 ðe1 Þ β1 IŠe_ 1 e_ 2 T ½K v 2 ðe2 Þ β2 IŠe_ 2 β1 e1 T K p 1 ðe1 Þe1 β2 e2 T K p 2 ðe2 Þe2 ,

(51)
for all positive values of gain matrices K v1 ðe1 Þ, K v2 ðe2 Þ, K p 1 ðe1 Þ,and K p 2 ðe2 Þ;
Eq. (51) is globally negative function. Then

V_ , 0:

In this way, the system is globally exponential stabile.

3.2 Impedance controller

The PD impedance controller has been widely applied in modern researches for
controlling the interaction with the environment [24, 25]. The fundamental princi-
ple of the implemented impedance control in this study is that the fingers should
track a motion trajectory, and adjust the mechanical impedance of the robotic hand.
The mechanical impedance of the robotic hand is defined in terms of velocity and
position as

Ftipi ðsÞ
Z hand ¼ , (52)
X_ ðsÞ
Ftipi ðsÞ
sZ hand ¼ : (53)
X ð sÞ

By virtue of the above two equations, the fingertip contact force Ftipi gives the
essential property of regulating the position and velocity of the contact points
between the fingertips and the grasped object. This regulating behavior is obtained
by two PD controllers as shown in Figure 3. In the first PD controller, the position is
regulated by

13
Emerging Trends in Mechatronics

∆X stiffness ¼ K F1 Ftipi , (54)

where K F1 is the matrix of the proportional gain of the controller and the
velocity is regulated by

∆X_ damping ¼ K F2 F tipi , (55)

where K F2 is the matrix of the controller’s derivative gain. The regulated position
and velocity of Eqs. (54) and (55) are integrated in the impedance control loop with
another PD controller of proportional gain matrix K 0p and derivative gain matrix K 0v
in order to adjust the damping of the robotic hand during grasping operation
according to the following equation:
 
0
T 0 _
τimp ¼ J K p ∆X D þ K v ∆X D , (56)

where

∆X D ¼ X D X ∆X stiffness ,

and

∆X_ D ¼ X_ D X_ ∆X_ damping :

Hence, the contact forces are regulated in joint space, and the robotic hand can
adapt the collision of the fingers with the grasped objects.
The application of Lyapunov function technique determines the conditions of
stability of impedance controller [26]. In the forward kinematic model, the equa-
tions of fingers are

(57)


X i ¼ f qi ,
X_ i ¼ J finger i q_ i : (58)

On the other hand, the errors are given as

ℶi ¼ qi qi d , (59)
(60)


ℵi ðℶi Þ ¼ X i qi X id ,

where ℶi , ℵi ðℶi Þ, and i are the error of joint angle, the error in task space, and the
index of finger (i ¼ 1, 2), respectively. Consider the constrained dynamics of the
two fingers in Eqs. (15) and (16) for the control torque in Eq. (56). Applying
Eqs. (59) and (60), the error dynamic equation of each finger becomes
h i
Mfinger1 ðℶ1 Þℶ€ 1 þ Dfinger1 ℶ1 ; ℶ_ 1 ℶ_ 1 þ Gfinger1 ðℶ1 Þ þ J Tfinger1 K 0p þ K 0p K F1 K e þ K 0v K F2 K e þ K e ℵ1 ðℶ1 Þ



þ J Tfinger1 K 0v ℵ_ 1 ðℶ1 Þ ¼ 0,
(61)
h i
Mfinger2 ðℶ2 Þℶ€ 2 þ Dfinger2 ℶ2 ; ℶ_ 2 ℶ_ 2 þ Gfinger2 ðℶ2 Þ þ J Tfinger2 K 0p þ K 0p K F1 K e þ K 0v K F2 K e þ K e ℵ2 ðℶ2 Þ



þ J Tfinger2 K 0v ℵ_ 2 ðℶ2 Þ ¼ 0,
(62)

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where K e is the stiffness matrix of the fingertip/grasped object. In order to find

the potential energy Pðℶi Þ and the dissipation function Dðℶi Þ, compare Eqs. (61)
and (62) with the following Lagrangian’s equations of total kinetic energy T:

d ∂T ∂T ∂P ∂D
þ þ ¼ 0; (63)
dt ∂ℶ_ i ∂ℶi ∂ℶi ∂ℶ_ i

then, we get

∂P h
0 0 0
i
¼ K p þ K p K F1 K e þ K v K F2 K e þ K e ℵ1 ðℶ1 Þ, (64)
∂ℶ1
∂D
¼ K 0v ℵ_ 1 ðℶ1 Þ, (65)
_
∂ℶ 1
∂P h i
¼ K 0p þ K 0p K F1 K e þ K 0v K F2 K e þ K e ℵ2 ðℶ2 Þ, (66)
∂ℶ2
∂D
¼ K 0v ℵ_ 2 ðℶ2 Þ, (67)
∂ℶ_ 2
 1 T
T ℶ1 ; ℶ_ 1 ¼ ℶ_ 1 Mfinger1 ðℶ1 Þℶ_ 1 , (68)


2
 1 T
T ℶ2 ; ℶ_ 2 ¼ ℶ_ 2 Mfinger2 ðℶ2 Þℶ_ 2 : (69)


2
The error dynamics in Eqs. (61) and (62) is asymptotically stable if the following
candidate Lyapunov function

V ℶ; ℶ_ ¼ T ℶ1 ; ℶ_ 1 þ T ℶ2 ; ℶ_ 2 þ Pðℶ1 Þ þ Pðℶ2 Þ (70)





satisfies the following conditions:

V ℶ; ℶ_ is positive,



V_ ℶ; ℶ_ is negative:



The derivative of Eq. (70) is

d
_  dT ðℶ1 Þ dT ðℶ2 Þ dPðℶ1 Þ dPðℶ2 Þ

V ℶ; ℶ ¼ þ þ þ ,
dt dt dt dt dt
T T dMfinger1 ℶ _1 T _2
T dMfinger2 ℶ
V_ ℶ; ℶ_ ¼ ℶ_ 1 Mfinger1 ℶ€ 1 þ ℶ_ 1 þ ℶ_ 2 Mfinger2 ℶ€ 2 þ ℶ_ 2


dt 2 dt 2
T
 h i 
þ ℶ_ 1 K 0p þ K 0p K F1 K e þ K 0v K F2 K e þ K e ℵ1 ðℶ1 Þ
T
h i 
_ 0 0 0
þ ℶ2 K p þ K p K F1 K e þ K v K F2 K e þ K e ℵ2 ðℶ2 Þ :
(71)
Equations (61) and (62) can be rearranged as below

Mfinger1 ðℶ1 Þℶ€ 1 þ Dfinger1 ℶ1 ; ℶ_ 1 ℶ_ 1 þ Gfinger1 ðℶ1 Þ


h i (72)
þ J Tfinger1 K 0p þ K 0p K F1 K e þ K 0v K F2 K e þ K e ℵ1 ðℶ1 Þ ¼ J Tfinger1 K 0v ℵ_ 1 ðℶ1 Þ,

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Emerging Trends in Mechatronics

Mfinger2 ðℶ2 Þℶ€ 2 þ Dfinger2 ℶ2 ; ℶ_ 2 ℶ_ 2 þ Gfinger2 ðℶ2 Þ


h i (73)
þ J Tfinger2 K 0p þ K 0p K F1 K e þ K 0v K F2 K e þ K e ℵ2 ðℶ2 Þ ¼ J Tfinger2 K 0v ℵ_ 2 ðℶ2 Þ,

By substituting Eqs. (72) and (73) in Eq. (71) and applying the relations in
Eqs. (57)–(60), it yields
T T
V_ ℶ; ℶ_ ¼ ℵ_ 1 ðℶ1 ÞK 0v ℵ_ 1 ðℶ1 Þ ℵ_ 2 ðℶ2 ÞK 0v ℵ_ 2 ðℶ2 Þ: (74)



Hence, the robotic hand system is asymptotically stable under the following
boundaries:
h i
2K 0p þ 2K 0p K F1 ke þ 2K 0v K F2 ke þ 2ke . 0,

K 0v . 0,

or

K 0v . 0:

3.3 Gains design using genetic algorithm

Genetic algorithm is a well-known optimization procedure for complex prob-

lems which ascertains optimum values for different systems [27]. The genetic algo-
rithm is written to find the optimum impedance gains. The code takes the calculated
data from the robotic hand Simulink model to compute impedance’s gains. How-
ever, the detailed genetic algorithm that is applied in the design of the gains can be
defined by the following proceedings:
(1) Generate a number of solutions. This represents the random number of popu-
lation which includes the gains K F1 , K F2 , K 0p , and K 0v of the impedance controller of
Figure 3. These gains are the individual of population.
(2) Fitness function. During the running of the program, the fitness is evaluated
for each individual in the population. In this study, the objective of the fitness
function is to minimize the errors ∆XD and ∆X_ D of Eq. (56) as below:

Errortracking ¼ 0:05∆XD þ 0:05∆X_ D þ 0:1tr1 þ 0:1ts1 þ 0:1do1 þ 0:1tr2 þ 0:1ts2

þ0:1do2 þ 0:1tr3 þ 0:1ts3 þ 0:1do3 ,
(75)
where trj , tsj , and doj are the rising time, the settling time, and the overshoot,
respectively, for each error signal (j ¼ 1, 2, 3).
(3) Create the next generation [28]. At each step, genetic algorithm implements
the following three rules to create a new generation of the recent population:

• Individuals called parents are selected by the selection rules, and then the
population of the next generation is obtained by contributing the parents.

• Two parents are combined to generate children by crossover rules for the next
generation.

• Children are formed by mutation rules. The process of forming children is

dependent on applying random changes on the individual parents.

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(4) Setting the genetic algorithm. The following parameters are used for setting the
proposed genetic algorithm in this study: the number of generations = 80, the size of
population = 30, and the range of gains are K F1min ¼ 0, K F1max ¼ 50, K F2min ¼ 0,
K F2max ¼ 50, K p min ¼ 0, K p max ¼ 50, K V min ¼ 0, K V max ¼ 50.

4. Simulation results

The obtained interactional model was applied in the simulation to verify the
designed controllers through three tests as follows:

• Test 1: Following a specific joint path.

• Test 2: Following fingertip position.

• Test 3: Robustness of the controllers.

The Simulink model is implemented using MATLAB as shown in Figure 5.

4.1 Following a specific joint path

This test is focused on position-tracking performance of joints. We assumed the

two fingers are in initial position (θij ¼ 0) and the joints should follow the following
path:

θijd ¼ 0:2 sin πt:

The simulation result explained in Figure 6 shows that the designed position-
tracking controller can follow a specific path with zero steady error and without
overshoot. A unit step input function of amplitude 20° is implemented to check this
tracking error, and the response of the controllers is more detailed as shown in
Figure 7.

Figure 5.
The Simulink model of the robot hand.

17
Emerging Trends in Mechatronics

Figure 6.
Joint tracking of sine wave path.

Figure 7.
Tracking errors of finger 1 joints.

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Figure 8.
Motion of fingertip 1 with impedance controller.

4.2 Following fingertip position

The second test is implemented to monitor the operation of the designed

impedance controller in task space. We assumed the initial position of the fingertip
1 is (135, 100, 25 mm) and it has to reach the position (115, 153.7, 25 mm). The
position of the grasped object is assumed at xobject1 ¼ 118mm, yobject ¼ 152:7mm,
1
zobject1 ¼ 25. The result of the optimization process of the impedance controller is
obtained as K F1 ¼ 1:8089, K F2 ¼ 1, K P ¼ 1, K V ¼ 1. At these gains, as shown in
Figure 8, the percentage error of position and velocity are 0.6 and 0%, respectively.
Regarding the fingertip contact force represented in Figure 9, the overall designed
controllers have given the essential property of contact without overshoot.
For comparison purposes, another study is implemented without considering
the impedance controller in the overall control loop, i.e., K F1 ¼ 0, K F2 ¼ 0,
K P ¼ 0, K V ¼ 0. The results showed that the fingertip position error reaches 0.69%,
but the main side effect was of the fingertip velocity error which reached 100% (see
Figure 10). In turn, the fingertip contacts the grasped object with high value of
error in velocity; this situation causes unsafe grasping. As a result, the proposed
overall controller has minimized the velocity error to 0% thanks to the proposed
impedance controller with genetic algorithm.

4.3 System robustness

The robustness of the designed controllers is checked in this section. This test is
implemented within the same parameters of the desired position and object location

19
Emerging Trends in Mechatronics

Figure 9.
Fingertip contact force with the grasped object.

Figure 10.
Motion of fingertip 1 without impedance controller.

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Figure 11.
Contact force signal with a white Gaussian noise.

Figure 12.
Parameters of the applied white Gaussian noise.

in the test of Section 4.2. The disturbances on the robotic hand cause change of the
fingertip contact forces. Here, we assumed that the disturbances result in a contact
force with a white Gaussian noise [29–32] shown in Figure 11. The Gaussian noise
model is generated using block AWGN channel in Simulink. The position of the
AWGN channel is shown in Figure 5. The parameters of white Gaussian noise are
set as shown in Figure 12. The designed controllers have achieved the functionality
of rejecting the disturbances and kept the motion of the finger as shown in
Figure 13.

21
Emerging Trends in Mechatronics

Figure 13.
Response of the designed controllers to the disturbances.

5. Conclusion

Grasping by two fingertips plays a distinctive role in its performance related to

robotic hand-environment interaction. A mathematical model including the
dynamic equation has been derived based on the Lagrange technique. The coupling
between two fingers and the fingertip contacts with unknown grasped objects has
been presented in this model. The performance of the derived model is confirmed
when a designed based model controller is implemented in Simulink. A computed
torque controller of six PD controllers has been implemented to control the rotation
of joints. The impedance controller is applied to operate as the outer loop of the
overall control system. This controller allowed the regulation of the fingertip con-
tact forces without overshoot response, which is essential for safe grasping, espe-
cially in holding fragile objects. Besides this, the impedance gains have been
obtained using a genetic algorithm with a new behavior of improving the response
of the position and velocity errors. The applied genetic algorithm method has
minimized the position error and the velocity error while keeping the operation of
the overall control system. The robot finger has been ordered to follow a specific
joint path and fingertip position grasping; the results of simulations have achieved a
typical accomplishment of trajectory tracking. Finally, the overall controllers have
shown a perfect rejection of disturbances in terms of fingertip contact force. As a
future work, it is recommended to apply the proposed controllers of this study to
mobile manipulator for grasping and manipulation objects.

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DOI: http://dx.doi.org/10.5772/intechopen.85531

Appendix A. Calculating the representation of Q i ,

Let
! ! ! ! ! !
F1 ¼ m1 g j , F 2 ¼ m2 g j , F 3 ¼ m3 g j ,
and

! ! ! ! ! ! ! ! !
r1 ¼ x1 i þ y1 j , r 2 ¼ x2 i þ y2 j , r 3 ¼ x3 i þ y3 j :

Then

! ! !
r1 ¼ d1 cos θ1 i þ d1 sin θ1 j ,
! ! !
r2 ¼ ðL1 cos θ1 þ d2 cos ðθ1 þ θ2 ÞÞ i þ ðL1 sin θ1 þ d2 sin ðθ1 þ θ2 ÞÞ j ,
! !
r3 ¼ ðL1 cos θ1 þ L2 cos ðθ1 þ θ2 Þ þ d3 cos ðθ1 þ θ2 þ θ3 ÞÞ i
!
þðL1 sin θ1 þ L2 sin ðθ1 þ θ2 Þ þ d3 sin ðθ1 þ θ2 þ θ3 ÞÞ j :
!
The partial derivatives of ri with respect to θi are
!
∂r1 ! !
¼ d1 sin θ1 i þ d1 cos θ1 j ,
∂θ1
!
∂r1
¼ 0,
∂θ2
!
∂r1
¼ 0,
∂θ3
!
∂r2 ! !
¼ ½ L1 sin θ1 d2 sin ðθ1 þ θ2 ފ i þ ½L1 cos θ1 þ d2 cos ðθ1 þ θ2 ފ j ,
∂θ1
!
∂r2 ! !
¼ d2 sin ðθ1 þ θ2 Þ i þ d2 cos ðθ1 þ θ2 Þ j ,
∂θ2
!
∂r2
¼ 0,
∂θ3
!
∂r3 !
¼ ð L1 sin θ1 L2 sin ðθ1 þ θ2 Þ d3 sin ðθ1 þ θ2 þ θ3 ÞÞ i
∂θ1
!
þ ðL1 cos θ1 þ L2 cos ðθ1 þ θ2 Þ þ d3 cos ðθ1 þ θ2 þ θ3 ÞÞ j ,
!
∂r3 ! !
¼ ð L2 sin ðθ1 þ θ2 Þ d3 sin ðθ1 þ θ2 þ θ3 ÞÞ i þ ðL2 cos ðθ1 þ θ2 Þ þ d3 cos ðθ1 þ θ2 þ θ3 ÞÞ j ,
∂θ2
!
∂r3 ! !
¼ d3 sin ðθ1 þ θ2 þ θ3 Þ i þ d3 cos ðθ1 þ θ2 þ θ3 ÞÞ j ,
∂θ3
The matrices’ elements in Eq. (28) are

m11 ¼ m1 d1 2 þ I1 þ m2 L1 2 þ m2 d2 2 þ 2m2 L1 d2 cos θ2 þ I2 þ m3 L1 2 þ m3 L2 2

þ 2m3 L1 L2 cos θ2 þ 2m3 L1 d3 cos ðθ2 þ θ3 Þ þ 2m3 L2 d3 cos θ3 þ m3 d3 2 þ I3 ,
m12 ¼ m2 d2 2 þ m2 L1 d2 cos θ2 þ I2 þ m3 L1 L2 cos θ2 þ m3 L1 d3 cos ðθ2 þ θ3 Þ þ 2m3 L2 2
þ 2m3 L2 d3 cos θ3 þ m3 d3 2 þ I3 ,

23
Emerging Trends in Mechatronics

m13 ¼ m3 L1 d3 cos ðθ2 þ θ3 Þ þ m3 L2 d3 cos θ3 þ m3 d3 2 þ I3 ,

m21 ¼ m2 d2 2 þ m2 L1 d2 cos θ2 þ I2 þ m3 L1 L2 cos θ2 þ m3 L1 d3 cos ðθ2 þ θ3 Þ
þ2m3 L2 d3 cos θ3 þ 2m3 L2 2 þ m3 d3 2 þ I3 ,
m22 ¼ m2 d2 2 þ I2 þ m3 L2 2 þ 2m3 L2 d3 cos θ3 þ m3 d3 2 þ I3 ,
m23 ¼ m3 L2 d3 cos θ3 þ m3 d3 2 þ I3 ,
m31 ¼ m3 L1 d3 cos ðθ2 þ θ3 Þ þ m3 L2 d3 cos θ3 þ m3 d3 2 þ I3 ,
m32 ¼ m3 L2 d3 cos θ3 þ m3 d3 2 þ I3 ,
m33 ¼ m3 d3 2 þ I3 ,
d11 ¼ 2m2 L1 d2 sin θ2 θ_ 22m3 L1 L2 sin θ2 θ_ 2 2m3 L1 d3 sin ðθ2 þ θ3 Þθ_ 2
2m3 L1 d3 sin ðθ2 þ θ3 Þθ_ 3 2m3 L2 d3 sin θ3 θ_ 3 ,
d12 ¼ m2 L1 d2 sin θ2 θ_ 2m3 L1 L2 sin θ2 θ_ 2 m3 L1 d3 sin ðθ2 þ θ3 Þθ_ 2
m3 L1 d3 sin ðθ2 þ θ3 Þθ_ 3 2m3 L2 d3 sin θ3 θ_ 3 m3 L1 d3 sin ðθ2 þ θ3 Þθ_ 3 ,
d13 ¼ m3 L1 d3 sin ðθ2 þ θ3 Þθ_ 3 m3 L2 d3 sin θ3 θ_ 3 ,
m2 L1 d2 sin θ2 θ_ 2 m3 L1 L2 sin θ2 θ_ 2 m3 L1 d3 sin ðθ2 þ θ3 Þ θ_ 2 þ θ_ 3

d21 ¼
2m3 L2 d3 sin θ3 θ_ 3 þ m2 L1 d2 sin θ2 θ_ 1 þ m2 L1 d2 sin θ2 θ_ 2 þ m3 L1 L2 sin θ2 θ_ 1
þ m3 L1 d3 sin ðθ2 þ θ3 Þθ_ 1 þ m3 L1 L2 sin θ2 θ_ 2 þ m3 L1 d3 sin ðθ2 þ θ3 Þθ_ 2 þ m3 L1 d3 sin ðθ2 þ θ3 Þθ_ 3 ,

d22 ¼ 2m3 L2 d3 sin θ3 θ_ 3 ,

d23 ¼ m3 L2 d3 sin θ3 θ_ 3 ,
d31 ¼ m3 L1 d3 sin ðθ2 þ θ3 Þ θ_ 2 þ θ_ 3 m3 L2 d3 sin θ3 θ_ 3 þ m3 L1 d3 sin ðθ2 þ θ3 Þθ_ 1


þm3 L2 d3 sin θ3 θ_ 1 þ m3 L1 d3 sin ðθ2 þ θ3 Þθ_ 2 þ 2m3 L2 d3 sin θ3 θ_ 2

þm3 L1 d3 sin ðθ2 þ θ3 Þθ_ 3 þ m3 L2 d3 sin θ3 θ_ 3 ,
d32 ¼ m3 L2 d3 sin θ3 θ_ 3 þ m3 L2 d3 sin θ3 θ_ 2 þ m3 L2 d3 sin θ3 θ_ 3 ,
d33 ¼ 0,
g 1 ¼ m1 gd1 cos θ1 þ m2 gL1 cos θ1 þ m2 gd2 cos ðθ1 þ θ2 Þ þ m3 gL1 cos θ1
þm3 gL2 cos ðθ1 þ θ2 Þ þ m3 gd3 cos ðθ1 þ θ2 þ θ3 Þ,
g 2 ¼ m2 gd2 cos ðθ1 þ θ2 Þ þ m3 gL2 cos ðθ1 þ θ2 Þ þ m3 gd3 cos ðθ1 þ θ2 þ θ3 Þ,
g 3 ¼ m3 gd3 cos ðθ1 þ θ2 þ θ3 Þ,

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DOI: http://dx.doi.org/10.5772/intechopen.85531

Author details

Izzat Al-Darraji1,2*, Ali Kılıç1 and Sadettin Kapucu1

1 Mechanical Engineering Department, University of Gaziantep, Gaziantep, Turkey

2 Automated Manufacturing Department, University of Baghdad, Baghdad, Iraq

*Address all correspondence to: [email protected]

© 2020 The Author(s). Licensee IntechOpen. Distributed under the terms of the Creative
Commons Attribution - NonCommercial 4.0 License (https://creativecommons.org/
licenses/by-nc/4.0/), which permits use, distribution and reproduction for
non-commercial purposes, provided the original is properly cited. –NC

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Emerging Trends in Mechatronics

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