Hybrid fuzzy-sliding grasp control for underactuated robotic hand

A major part of the success of human-robots integration requires the development of robotic platforms capable of interacting in human environments. Human beings have an environment designed for their physical and morphological capacity, robots must adapt to these conditions. This paper presents a fuzzy-sliding hybrid grasp control for a five-finger robotic hand. As a design principle, the scheme takes into account the minimum force required on the object to prevent the object from slipping. The robotic hand uses force sensors on each finger to determine the grasp state. The control is designed with two control surfaces, one when there is slippage, the other when there is no slippage. For each surface, control rules are defined and unified by means of a fuzzy inference block. The proposed scheme is evaluated in the laboratory for different objects, which include spherical and cylindrical elements. In all cases, an excellent grasp was observed without producing deformations in the fragile objects

Sistema de control difuso para motor de corriente continua sin escobillas (BLDC) sobre hardware embebido

A diferencia de los motores DC con escobillas, los motores BLDC poseen una dinámica altamente no lineal, lo que dificulta el diseño de esquemas tradicionales de control. Por esta razón, en este artículo se propone el diseño de un esquema de control no lineal de velocidad basado en lógica difusa para la máquina BLDC. El esquema es implementado sobre una plataforma embebida H3 Quad-core Cortex-A7 con una GPU Mali400MP2. El código se desarrolló en Python sobre un OS Linux Debian. Los resultados experimentales muestran que el desempeño del controlador es excelente, eliminando sobrepasos y con una rápida respuesta a cambios de referencia