论文标题
使用分段通用关节模型控制软机器人臂
Control of a Soft Robotic Arm Using a Piecewise Universal Joint Model
论文作者
论文摘要
软机器人手臂的“无限”被动自由度使他们的控制尤其具有挑战性。在本文中，我们利用了一个先前开发的模型，该模型将软臂与一系列通用关节相等，以设计两个闭环控制器：用于轨迹跟踪的配置空间控制器，以及用于最终效应器位置控制的任务空间控制器。在四段软臂上进行的大量实验和模拟证明了以下方面的重大改进：a）配置空间控制器的卓越跟踪精度和b）减少了任务空间控制器的沉降时间和稳态误差。任务空间控制器还被验证在软臂与环境之间存在相互作用的情况下有效。
The 'infinite' passive degrees of freedom of soft robotic arms render their control especially challenging. In this paper, we leverage a previously developed model, which drawing equivalence of the soft arm to a series of universal joints, to design two closed-loop controllers: a configuration space controller for trajectory tracking and a task space controller for position control of the end effector. Extensive experiments and simulations on a four-segment soft arm attest to substantial improvement in terms of: a) superior tracking accuracy of the configuration space controller and b) reduced settling time and steady-state error of the task space controller. The task space controller is also verified to be effective in the presence of interactions between the soft arm and the environment.
