Control difuso para pinza robótica blanda orientada a objetos no rígidos

Robinson Jiménez Moreno; Javier Eduardo Martínez Baquero; Oscar Agudelo Varela

doi:10.24054/rcta.v2i42.2647

Autores/as

Robinson Jiménez Moreno Universidad Militar Nueva Granada https://orcid.org/0000-0003-4377-7867
Javier Eduardo Martínez Baquero Universidad de los Llanos https://orcid.org/0000-0002-1725-0490
Oscar Agudelo Varela Universidad de los Llanos https://orcid.org/0000-0002-1725-0490

DOI:

https://doi.org/10.24054/rcta.v2i42.2647

Palabras clave:

Agarre bio-inspirado, Control difuso, Impresión 3D, Robótica suave

Resumen

El presente artículo expone el diseño de un efector robótico construido con sensórica interna en material flexible. Basados en el agarre bioinspirado de objetos delgados típicamente no rígidos realizados con dos dedos por os humanos, se establecen las características del modelo 3 que sirve de base para la impresión de este, incluyendo espacio interno para una flexoresistencia que permita identificar el porcentaje de flexión para agarre, mediante el efector. Se diseña un controlador difuso para control del efector y dada la tolerancia del sensor se emplea un sistema de inferencia difusa Mamdani tipo-2. Los resultados muestran un agarre adecuado que permite obtener un error de estado estacionario cercano a cero, permitiendo agarrar objetos delgados como un pañuelo o una pieza de papel higiénico.

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