Force/position control with bounded actions on a dexterous robotic hand with two-degree-of-freedom fingers

• Autorzy: Rojas-García Lina N. , Chávez-Olivares César A. , Bonilla-Gutiérrez Isela , Mendoza-Gutiérrez Marco O. , Ramírez-Cardona Fernando

Identyfikatory

DOI

10.1016/j.bbe.2021.12.006

• Języki publikacji: EN

Abstrakty

EN

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 MultibodyTM) 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.

Słowa kluczowe

EN

bounded inputs; force/position control; robotic hand; saturation function

PL

wejście ograniczone; sterowanie pozycja/siła; ręka robotyczna; funkcja nasycenia

• Wydawca: Nałęcz Institute of Biocybernetics and Biomedical Engineering of the Polish Academy of Sciences ; Elsevier
• Czasopismo: Biocybernetics and Biomedical Engineering
• Rocznik: 2022
• Tom: Vol. 42, no. 1
• Strony: 233--246
• Opis fizyczny: Bibliogr. 38 poz., rys., tab., wykr.

Twórcy

autor

Rojas-García Lina N.

• Faculty of Sciences, Autonomous University of San Luis Potosí, San Luis Potosí, Mexico

autor

Chávez-Olivares César A.

• Robotics Engineering Department, Autonomous University of Aguascalientes, Aguascalientes, Mexico

autor

Bonilla-Gutiérrez Isela

• Faculty of Sciences, Autonomous University of San Luis Potossí, Av. Chapultepec 1570, Privadas del Pedregal, San Luis Potossí 78295, Mexico

autor

Mendoza-Gutiérrez Marco O.

• Faculty of Sciences, Autonomous University of San Luis Potosí, San Luis Potosí, Mexico

autor

Ramírez-Cardona Fernando

• Viretrade S.A. de C.V., Servicios de Ingeniería Especializada, San Luis Potosí, Mexico

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