Modeling and Control of an Octopus Inspired Soft Arm under Prescribed Spatial Motion Constraints

被引:0
作者
Jie Ma
Zhiji Han
Zhijie Liu
Guotao Li
Wei He
Shuzhi Sam Ge
机构
[1] University of Science and Technology Beijing,School of Intelligence Science and Technology; Institute of Artificial Intelligence
[2] University of Science and Technology Beijing,Key Laboratory of Intelligent Bionic Unmanned Systems, Ministry of Education
[3] Institute of Automation,State Key Laboratory of Multimodal Artificial Intelligence Systems
[4] Chinese Academy of Sciences,Department of Electrical and Computer Engineering, and Institute for Functional Intelligent Materials
[5] National University of Singapore,undefined
来源
Journal of Intelligent & Robotic Systems | 2023年 / 109卷
关键词
Soft robot; Four-longitudinal muscle; Dynamic model; Actuator modeling; Performance constraint;
D O I
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中图分类号
学科分类号
摘要
Precise control of soft robots remains challenging due to their highly compliant nature. Existing kinematic models may not enable accurate control performance as they do not account for actuation forces and dynamics. This paper tackles the problem of precise motion control for a soft robotic arm with longitudinal muscle actuators. We develop an integrated modeling and control framework that incorporates dynamics and actuation forces for improved accuracy. A key contribution is deriving and implementing a mathematical model of the soft muscle actuators using minimum norm optimization. Among, actuator saturation is addressed through a tension limiting function. Based on the whole model, we develop a dynamic surface controller with performance constraint to precisely control the soft arm. This controller makes soft robot subsequent interactions more secure. To assess the approach, numerical simulations and physical experiments are designed to verify the feasibility and rationality.
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