Discrete Cosserat Static Model-Based Control of Soft Manipulator

被引：13

作者：

Li, Haihong ^{[1
]}

Xun, Lingxiao ^{[1
]}

Zheng, Gang ^{[2
,3
,4
]}

Renda, Federico ^{[5
]}

机构：

[1] Univ Lille, CRIStAL Ctr Rech Informat Signal & Automat Lille, Defrost team, Inria,Cent Lille,UMR 9189, F-59650 Lille, France

[2] Foshan Univ, Sch Math & Big Data, Guangdong Hong Kong Macao Joint Lab Intelligent M, Foshan 528000, Peoples R China

[3] Inria Lille Nord Europe, F-59650 Villeneuve dAscq, France

[4] CRIStAL Ctr Rech Informat Signal & Automat Lille, Villeneuve dAscq, France

[5] Khalifa Univ, Khalifa Univ Ctr Autonomous Robot Syst, Abu Dhabi 127788, U Arab Emirates

来源：

IEEE ROBOTICS AND AUTOMATION LETTERS | 2023年 / 8卷 / 03期

基金：

中国国家自然科学基金;

关键词：

Soft manipulator; PLS Cosserat static model; model-based control; CONSTANT CURVATURE; DESIGN; ROBOTS;

D O I：

10.1109/LRA.2023.3243799

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this letter, the continuous Cosserat static model is re-formulated by employing the piecewise linear strain (PLS) approach, which can obtain the analytic formula of the model to facilitate the controller design. The robust closed-loop control architecture based on the PLSCosserat static model for the soft arm around its workspace is then established. To validate the performance of the proposed model-based control scheme, the point-to-point and time-varying trajectory tracking experiments under external disturbances have been conducted on the soft manipulator actuated by cables.

引用

页码：1739 / 1746

页数：8

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