MPC-Based Position Control for Multi-Segment Pneumatic Soft Manipulator Considering Obstacle Avoidance

被引:0
|
作者
Zou, Shuangquan [1 ,2 ]
Zhang, Hongying [2 ]
Lyu, Yueyong [1 ]
Guo, Yanning [1 ]
Ma, Guangfu [1 ]
机构
[1] Harbin Inst Technol, Dept Control Sci & Engn, Harbin 150001, Peoples R China
[2] Natl Univ Singapore, Dept Mech Engn, Singapore 119077, Singapore
来源
IEEE ROBOTICS AND AUTOMATION LETTERS | 2025年 / 10卷 / 04期
关键词
Manipulators; Position control; Collision avoidance; Kinematics; Muscles; Real-time systems; Skeleton; Predictive control; Manipulator dynamics; Load modeling; Soft manipulator; model predictive control; obstacle avoidance; DESIGN; ROBOTS;
D O I
10.1109/LRA.2025.3532165
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
Multi-segment pneumatic soft manipulators are highly valued for their predominated characteristics in safety and dexterity. However, achieving precise position control in the presence of obstacles remains challenging, particularly when targets are close to the obstacle. Model predictive control (MPC) offers a promising solution by modeling obstacle avoidance as system state constraints that can be efficiently addressed by the controller. This letter presents a double closed-loop control framework based on MPC, designed to enable precise position control while avoiding the obstacle for a multi-segment pneumatic soft manipulator. We develop and compare three distinct obstacle avoidance functions (OAFs) to determine the most effective one, which is integrated into the MPC scheme. After obtaining muscle lengths from the MPC, a feedback control adjusts the mapping between muscle length and pressure in real-time. The feasibility of the proposed MPC-based controller is validated through simulations using piecewise constant curvature (PCC) kinematics. Then, physical experiments verify the effectiveness and robustness of each OAF. The collision numbers calculated from the repetitive experiments indicate that the MPC-control barrier function (CBF) outperforms others in both position control with obstacle presence.
引用
收藏
页码:3715 / 3722
页数:8
相关论文
共 50 条
  • [21] Obstacle avoidance dynamic control of manipulator based on space operator algebra
    Hong, Huihui
    Sun, Xiaoxiao
    FUTURE GENERATION COMPUTER SYSTEMS-THE INTERNATIONAL JOURNAL OF ESCIENCE, 2021, 123 : 201 - 205
  • [22] Formation Control of Multi-Agent System Considering Obstacle Avoidance
    Toyota, Ryo
    Namerikawa, Toru
    2017 56TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE), 2017, : 446 - 451
  • [23] IK-MLP-based Control for a Pneumatic Soft Manipulator
    Wang, Jingqian
    Zhao, Yong
    Zhang, Xiang
    Li, Zhenyu
    Yao, Wen
    2023 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023, 2023, : 392 - 397
  • [24] Model Predictive Control Method for Position Control and Obstacle Avoidance of Hyper-Redundant Binary Manipulator
    Maeda, Kensuke
    Konaka, Eiji
    2014 PROCEEDINGS OF THE SICE ANNUAL CONFERENCE (SICE), 2014, : 1262 - 1267
  • [25] Trajectory Tracking and Obstacle Avoidance Control of Unmanned Underwater Vehicles Based on MPC
    Sun, Bing
    Zhang, Wei
    Song, Aiguo
    Zhu, Xixi
    Zhu, Daqi
    2018 IEEE 8TH INTERNATIONAL CONFERENCE ON UNDERWATER SYSTEM TECHNOLOGY: THEORY AND APPLICATIONS (USYS), 2018,
  • [26] Path following and obstacle avoidance control of AUV based on MPC guidance law
    Yao X.
    Wang X.
    Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics, 2020, 46 (06): : 1053 - 1062
  • [27] A Consensus Strategy for Decentralized Kinematic Control of Multi-Segment Soft Continuum Robots
    Lafmejani, Amir Salimi
    Farivarnejad, Hamed
    Doroudchi, Azadeh
    Berman, Spring
    2020 AMERICAN CONTROL CONFERENCE (ACC), 2020, : 909 - 916
  • [28] Real-time Obstacle Avoidance and Position Control for a Soft Robot Based on Its Redundant Freedom
    Ni, Hang
    Wang, Hesheng
    Chen, Weidong
    Jiqiren/Robot, 2017, 39 (03): : 265 - 271
  • [29] Linear Time-Varying MPC-Based Autonomous Emergency Steering Control for Collision Avoidance
    Nguyen, Hung Duy
    Kim, Dongryul
    Son, Young Seop
    Han, Kyoungseok
    IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, 2023, 72 (10) : 12713 - 12727
  • [30] Decentralized flocking of multi-agent system based on MPC with obstacle/collision avoidance
    Huang, Dapeng
    Yuan, Quan
    Li, Xiang
    PROCEEDINGS OF THE 38TH CHINESE CONTROL CONFERENCE (CCC), 2019, : 5587 - 5592