Thesis DISEÑO Y DESARROLLO DE DISPOSITIVO DE CAPTACIÓN DE MOVIMIENTOS DE UNA MANO HUMANA PARA CONTROL DE UNA MANO ROBÓTICA
Date
2020-01
Authors
JARA LIRA, ALEXIS ANDRES
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Abstract
En la búsqueda de la emulación del movimiento de una mano humana para realizar agarres básicos, en el presente trabajo de tesis se desarrolla un sistema de control para una mano robótica que emula los movimientos de flexión y extensión de los dedos y la muñeca de una mano humana. El sistema consiste en un dispositivo de captación de los movimientos de una mano humana a través de sensores MEMS con los que se obtiene la orientación de las falanges mediales de cada dedo lo que sirve como referencia para un control del tipo PID sobre los actuadores de la mano robótica, de esta forma se genera un control alazo cerrado en donde la mano robótica replica los movimientos de un dedo y la muñeca de la mano humana.
In the search for the emulation of the movement of a human hand to perform basic grips, in this thesis work a control system is developed for a robotic hand that emulates the flexion and extension movements of the fingers and wrist of one human hand. The system consists of a device for capturing the movements of a human hand through MEMS sensors with which the orientation of the medial phalanges of each finger is obtained, which serves as a reference for a PID control over the actuators of the robotic hand, in this way a closed control is generated where the robotic hand replicates the movements of a finger and the wrist of the human hand.
In the search for the emulation of the movement of a human hand to perform basic grips, in this thesis work a control system is developed for a robotic hand that emulates the flexion and extension movements of the fingers and wrist of one human hand. The system consists of a device for capturing the movements of a human hand through MEMS sensors with which the orientation of the medial phalanges of each finger is obtained, which serves as a reference for a PID control over the actuators of the robotic hand, in this way a closed control is generated where the robotic hand replicates the movements of a finger and the wrist of the human hand.
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Keywords
ROBÓTICA , DISPOSITIVOS ELECTROMECANICOS , SISTEMAS DE CONTROL