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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.
EN
A saturating stiffness control scheme for robot manipulators with bounded torque inputs is proposed. The control law is assumed to be a PD-type controller, and the corresponding Lyapunov stability analysis of the closed-loop equilibrium point is presented. The interaction between the robot manipulator and the environment is modeled as spring-like contact forces. The proper behavior of the closed-loop system is validated using a three degree-of-freedom robotic arm.
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