Evaluación de Esquema de control en Aplicaciones de un Agarre Cilíndrico

Abstract

This paper shows the redesign, construction and programing of a prototype of anthropomorphic hand. The prototype is a modification of a design previously made by students also belonging to the investigation group ARMOS. This prototype of anthropomorphic hand has as objective to perform a cylindrical grip in a way that is trustworthy to a plastic bottle, through an arrangement of sensors FSR (resistive force sensors) placed in the tips of the fingers and servomotors TowerPro SG-5010 that will perform the closing movement to fasten the bottle, taking into account that said grip must be efficient and trustworthy, it was decided to perform a control with fuzzy logic since it makes the handling and programing easier with a larger range of values, for this design it’s used the Fuzzy Logic Designer of MATLAB and some libraries of Arduino that facilitated the design.