Diseño y simulación de tres estrategias de control: PID, espacio nulo y modo deslizante para el modelo dinámico de una mano robótica

Abstract

The objective of this work is to design and simulate three control strategies: PID, null space, and sliding mode for the dynamic model of a robotic hand and in this way evaluate its performance through the integral of the absolute error.

For the design of the PID type controller, the approximate first order model with link delay is used. For SMC, the control law consists of two parts, one continuous known as sliding mode, the other discontinuous, also called reachability mode.

The null-space based controller is designed for the ends of phalanges of robotic hand, various control targets are considered. The first task that is considered is the control of the formation of the ends of the phalanges of each finger and the second task is the control of the centroid of the formation of the first task. For the design of the controller, one is considered as the main task and the other as a secondary task, which is projected in the null space of the main task.

The graphical interface has been designed and implemented in Guide-Matlab®, which allows testing for each controller, displaying its results and validating its operation.