Diseñar y desarrollar un controlador embebido basado en PID aplicado a la regulación de fuerza de una mano robótica

Abstract

The present work is part of the "Mano Esperanza" research project, the main objective is to design and implement an embedded PID controller, applied to the regulation of the grip force of a robotic hand. The aim is to design, select and implement the best performance controller based on the methodologies used in similar applications. In addition, it is sought to analyze and experimentally compare the performance of the force controller with feedback based on current measurement consumed by each actuator, and force measurement exerted on the FSR sensor. As results of the present work: six controllers were designed for each of the two types of grip force feedback, and finally the controller was implemented in the embedded system to evaluate the experimental performance with the prototype of robotic prosthesis. For grip force control based on current measurement, the Lambda controller offered the best results (Ts <0.85s and P.O. <2%). In the case of force control based on FSR, Lambda and Cohen-Coon methods were implemented, but stabilization was not achieved in the experimental phase.