Virtual bionic hand co-simulation systems and fuzzy servo control algorithm

摘要

In order to reduce the unnecessary material and the time consumed, and to improve design efficiency in the actual prosthetics physical prototype design process, this paper uses virtual technology to build a simulation system. First, Adams software is used to create a virtual humanoid robot model with 14 degrees of freedom; second, a virtual bionic hand's fuzzy PID control system is built based on Matlab / Simulink module. In order to determine the parameters of the controller more quickly and accurately and to ensure the stable operation of the model, the fuzzy theory and PID control are combined to build the fuzzy PID control of a virtual bionic hand; third, the co-simulation of Matlab and Adams virtual bionic hand model with multi-degree of freedom is realized by the model and control system interface module. Simulation results show that the virtual bionic hand has good tracking ability, and can complete the relevant action steadily.