Optimal Position Fuzzy Control of an Underactuated Robotic Finger

In this paper, the optimal position control of an underactuated robotic finger is presented. Two trajectories, one for proximal and other medial phalanx, are proposed in order to emulate finger’s flexion/extension movements. A Mandani fuzzy due lack a precise dynamical model system. obtain parameters, optimization strategy based on membership functions applied. Genetic algorithms (GA) commonly used as method diverse applications; however, case, use autoadaptive differential evolution superior convergence behavior. Simulations virtual prototype carried out using MATLAB/Simulink software display trajectory tracking. The results show that maximum error between obtained trajectories 3.1352E − 04 rad.