Fuzzy logic based decision support system for force control of robot hand

In recent years with developing technology the studies on robotic systems have increased significantly. Robot hands, which are one of the robotic systems, has gained importance in the development studies of the application areas. The problem of force control and lack of haptic feedback in robotic hand applications poses a major problem. In order to solve this problem, a controller should be added to the system and the lack of haptic feedback should be eliminated. By integrating haptic feedback into human-machine interaction, precision and efficiency in machine control have increased. In this respect the sensitization of tactile notification in robotic hands which is one of the human-machine interactions will increase the user experience (keep, grip feeling) and allow the user to control the system more precisely. In this thesis, a decision support system (fuzzy logic controller) has been formed by using fuzzy logic due to its close to human thought structure. With the decision support system, the force control of the 5 finger robot hand has carried out according to the user command. A haptic feedback system has been designed to eliminate the lack of sensation feedback. By using fuzzy logic in the control of the haptic feedback system a controller has been developed and applied to the system. The user sends commands to the decision support system such as grip, tight grip, drop. The decision support system determines the grip force by reference from the user command and evaluates the situation, then sends the appropriate control signal to the robot hand. According to the control signal, the robot hand grasps the objects in the appropriate force range. The system has been tested and the robotic hand grasped the objects in the appropriate force range according to the user command. By means of haptic feedback system, the user felts the grip force. Thus, the user experience has been increased. With the increased user experience, the user can control the force more successfully, which is applied by the robot hand to the object.