Force/position control with bounded actions on a dexterous robotic hand with two-degree-of-freedom fingers

This paper addresses the problem of controlling a robotic hand in tasks that require precise regulation of the applied force, as well as efficient use of actuators, ensuring that these operate safely within their torque limits. The proposed control structure is composed of generalized saturation functions, which have been widely used for the control of robotic systems that move freely without interacting with the environment; however, in this work they are used to regulate the forces generated by the interaction of a robotic hand and the objects that it can manipulate. The force/position control scheme is also used to validate the design of a robotic hand, whose dynamic modeling was obtained with computer-aided design (SolidWorks) and numerical simulation (Simscape MultibodyTM) tools. The results obtained validate both the effectiveness of the proposed control scheme and the usefulness of the computational tools used to characterize the dynamics of the robotic fingers.