Force/position control with bounded actions on a dexterous robotic hand with two-degree-of-freedom fingers
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This paper addresses the problem of controlling a robotic hand in tasks that require precise regulation of the applied force, as well as efficient use of actuators, ensuring that these operate safely within their torque limits. The proposed control structure is composed of generalized saturation functions, which have been widely used for the control of robotic systems that move freely without interacting with the environment; however, in this work they are used to regulate the forces generated by the interaction of a robotic hand and the objects that it can manipulate. The force/position control scheme is also used to validate the design of a robotic hand, whose dynamic modeling was obtained with computer-aided design (SolidWorks®) and numerical simulation (Simscape Multibody™) tools. The results obtained validate both the effectiveness of the proposed control scheme and the usefulness of the computational tools used to characterize the dynamics of the robotic fingers. © 2021 Nalecz Institute of Biocybernetics and Biomedical Engineering of the Polish Academy of Sciences
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Bounded inputs; Force/position control; Robotic hand; Saturation function Article; biomechanics; computer aided design; computer model; computer simulation; degree of freedom; distal phalanx; extracellular matrix; finger; finite element analysis; food intake; freedom; hand function; joint function; kinematics; mathematical analysis; mathematical model; nonhuman; simulation; three dimensional printing; time series analysis; work environment
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