Fuzzy Logic Control of a Multifingered Hand Robot Using Genetic Algorithm Based on DSP

This paper presents the fuzzy control of a five fingered robot hand by using the genetic algorithm and TMS320F2812 chip. Because of its high-speed performance, its support for multi-motor control and its low power consumption, TMS320F2812 DSP from TI demonstrates itself as an ideal candidate for the five fingered robot hand. There are five fingers and each finger has three degrees of freedom (DOF). All the actuators and electronics are integrated in the finger body and the palm. This robot has five fingers in which all joints are driven by DC motors. At the same time, the multisensory robot hand integrates position, force/torque and temperature sensors. The fuzzy controller dealing with the level of finger control is a multiple-input-multiple-output (MIMO) fuzzy learning controller and is implemented in AVRs microcontrollers. In this paper, the design of the fuzzy controller is base on the genetic algorithm. The whole weight of the hand is about 1.3Kg and the fingertip force can reach 8N.