Implementation of robust multivariable control techniques for positioning an artificial robotic hand

• Grant number: 06/06453-3
• Support Opportunities: Scholarships in Brazil - Scientific Initiation
• Start date: February 01, 2007
• End date: January 31, 2008
• Field of knowledge: Engineering - Electrical Engineering - Industrial Electronics, Electronic Systems and Controls
• Principal Investigator: Glauco Augusto de Paula Caurin
• Grantee: Leandro Cuenca Massaro
• Host Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil

Abstract

This research has as objective the study and development of a set of multivariables robust controllers for a robotic manipulator with multiple degrees of freedom. The objectivo of these controllers is to locate with precision the tip of each finger, thus making possible the object manipulation. This system will have to deal with the typical nonlinear characteristics of a complex mecatronic system.