Design of Servo Control System on Robot Hand Fingers

Robot arms commonly used in the industrial sector are typically controlled using. ioysticks, although this method is not very effective. This project aims to improve control by developing a two-system control setup for the robot arm, focusing on finger and arm control using gloves equipped with bending sensors to detect finger curvature and an inertial measurement unit (IMU) sensor to gauge hand movement direction. The linear actuators control the robot fingers, while Dynamixel smart servo motors control the robot arms. The system utilizes PID control for its control method. Testing the robot hand fingers control system revealed a good response, with an average delay of 0.3 seconds and an average error of 1.44°. Overall testing showed that the robot arm can move based on the set point given by the glove.