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

Authors

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

Keywords:

Bio-inspired grip, Fuzzy control, 3D Impression, Soft robotics

Abstract

This paper presents the design of a robotic effector built with internal sensors in flexible material. Based on the bio-inspired grasping of thin, typically non-rigid objects made with two fingers by humans, the characteristics of model 3 are established, which serves as the basis for the printing of this model, including internal space for a flex resistance that allows identifying the percentage of flexion for grasping, using the effector. A fuzzy controller is designed to control the effector, and, given the tolerance of the sensor, a Mamdani type-2 fuzzy inference system is used. The results show an adequate grip that allows obtaining a steady state error close to zero, allowing one to grip thin objects such as a handkerchief or toilet paper.

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