Fuzzy position-velocity control of underactuated finger of FTN robot hand

The significant progress in robotics worldwide, bri ngs further advancements in the design of the mecha ni al components, miniaturization of sensors and control hardw re and more sophisticated control algorithms that come together with more available processing power. The state of the art hu manoid robots are usually equipped with dexterous h ands. This paper presents the design of the FTN robot hand for humanoid robot MARKO, with the emphasis on the fuzzy logic c ontroller to control the Brushed DC motors used to actuate the underactua ted fingers of the hand. The design of the robotic hand is highly anthropomorphic and biologically inspired by the human ha ds. The hand is passively adaptive to the shape of an object, due to a tendon-driven mechanism and torsional spring in eac h finger joint. Each of the five fingers has three DOFs (Degrees Of Freedom), except the thumb which has an additional DOF, for the rotation in its base. The fingers are tend onriven, actuated with five DC motors, embedded in the palm. The proposed f uzzy controller is used to control the position of each finger. The results of the controller are compared with traditional PID control algorithms tuned with Ziegler – Nichols tu ning method. The algorithms are first developed in a simulation environm e t and later are implemented on a real-time ARM Cor tex M4 controller.

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