Esquema para el control de una mano robótica antropomorfa

Abstract

This paper show the implementation of a strategy for grasp control of an anthropomorphic robotic hand, with the objective of stable grasp of a can of soda, preventing it from being damaged or displaced from the hand. The detection of the slip is done through force sensors located in the robotic hand, a circuit was implemented so that the variations of the force in the sensor are appreciated as a voltage signal. The control scheme must react before the sliding of the can of soda and quickly to avoid it. Also, it is necessary to adjust the force that apply the fingers, so that during the grasp this is not excessive and can damage the object, or very little so that it falls. The research began with an analysis of the design and control that has the hand, followed by the realization of the required improvements, the resistive force sensors are studied and implemented, and the control strategy is developed that allow an efficient grip of the soda can.