Eventos Anais de eventos
COBEM 2017
24th ABCM International Congress of Mechanical Engineering
Simulation and Implementation of Impedance Control in Robotic Hand
Submission Author:
Sergio Andres Pertuz Mendez , DF , Brazil
Co-Authors:
CARLOS H Llanos, Daniel Munoz, Sergio Andres Pertuz Mendez
Presenter: Sergio Andres Pertuz Mendez
doi://10.26678/ABCM.COBEM2017.COB17-2327
Abstract
Human-like robotic hands is a field of study in robotics that receives huge attention in the recent scientific community due to the numerous advantages that it performs as an end effector, such as, its dexterousness and flexibility. This work presents the early results regarding the design, construction and control of a robotic hand. The concept of an under-actuated robotic hand with rigid fingers was developed with CAD software and simulated using Simulink/Matlab in order to validate an impedance/PID controller for the finger systems projected in this work. After the validation of both the finger system and the controller scheme, the tuning of the impedance controller was accomplished using Particle Swarm Optimization (PSO). The depiction of this process is documented explaining the composing of the cost function. Finally the results of the optimization gave a behaviour where the experiments demonstrate that the proposed approach follows the reference in a satisfactory way.
Keywords
Impedance Control, Particle Swarm Optimization, Robotic Finger, Robotic hand
