Hardware-in-the-Ioop applications in the robotic hand development

Author(s)

André Ribeiro Lins de Albuquerque

• Document type: Doctoral Thesis
• Press: São Carlos.
• Institution: Universidade de São Paulo (USP). Escola de Engenharia de São Carlos (EESC/SBD)
• Defense date: 2007-03-09

Examining board members

Glauco Augusto de Paula Caurin; Ettore Apolonio de Barros; Guilherme Augusto Silva Pereira; Evandro Luís Linhari Rodrigues; Adriano Almeida Gonçalves Siqueira

• Advisor: Glauco Augusto de Paula Caurin

Abstract

The purpose of this work is the study and the application of the hardware-in-the-loop technique as a support tool in the development process of an artificial robotic hand. The efforts concentrate on the development of a computational and experimental environment to work together and simultaneously. In the computational environment, the simulated system model was developed in real-time. In the experimental environment, prototype parts of the robotic hand were implemented. In both cases, a multivariable controIler was developed and utilized. By adopting this approach, parts of the system simulated in real time can be substituted - according to the needs - by physical parts, such as: sensors, actuators, and new control hardware, allowing a considerable investment reduction in hardware and in time of project. (AU)