A Digital-Twin-Oriented Framework for Modeling, Control, and Virtual Validation of an Anthropomorphic Robotic Hand
DOI:
https://doi.org/10.61467/2007.1558.2027.v18i1.1481Keywords:
Robotic hand, Digital Twin, Simscape Multibody, Virtual prototyping, Mano robótica, Gemelo Digital, prototipado virtualAbstract
This paper presents the design, mathematical modeling, control, and virtual validation of a fifteen-degree-of-freedom anthropomorphic robotic hand within a Digital Twin-oriented framework. The mechanical structure was designed in SolidWorks and integrated into MATLAB/Simscape Multibody to create a high-fidelity virtual prototype. Forward and inverse kinematic models were derived using the Denavit–Hartenberg methodology, while the dynamic behavior was obtained through the Euler–Lagrange formulation. A proportional-derivative controller with gravity compensation was implemented to evaluate trajectory tracking and motion performance. Stability of the closed-loop system was demonstrated using Lyapunov theory and LaSalle’s Invariance Principle. Simulation results confirmed accurate position tracking, low torque requirements, and stable convergence for both individual and simultaneous joint movements. The proposed Digital Twin framework enables efficient design validation, performance assessment, and future integration with real-time sensing and intelligent robotic manipulation systems. Keywords: Robotic hand; Digital Twin; Simscape Multibody; PD control with gravity compensation; Virtual prototyping.
Spanish-language metadata / Metadatos en español
Título en español:
Marco orientado a Gemelo Digital para el modelado, control y validación virtual de una mano robótica antropomórfica
Resumen:
Este artículo presenta el diseño, el modelado matemático, el control y la validación virtual de una mano robótica antropomórfica de quince grados de libertad dentro de un marco orientado a Gemelo Digital. La estructura mecánica se diseñó en SolidWorks y se integró en MATLAB/Simscape Multibody para crear un prototipo virtual de alta fidelidad. Los modelos cinemáticos directo e inverso se derivaron mediante la metodología de Denavit–Hartenberg, mientras que el comportamiento dinámico se obtuvo mediante la formulación de Euler–Lagrange. Se implementó un controlador proporcional-derivativo con compensación de gravedad para evaluar el seguimiento de trayectorias y el desempeño del movimiento.
La estabilidad del sistema en lazo cerrado se demostró mediante la teoría de Lyapunov y el Principio de Invariancia de LaSalle. Los resultados de la simulación confirmaron un seguimiento preciso de la posición, bajos requerimientos de par y una convergencia estable tanto para movimientos articulares individuales como simultáneos. El marco de Gemelo Digital propuesto permite una validación eficiente del diseño, la evaluación del desempeño y la futura integración con sistemas de sensado en tiempo real y de manipulación robótica inteligente.
Palabras Claves:
Mano robótica, Gemelo Digital, Simscape Multibody, prototipado virtual
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