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.
翻译:软机器人武器自由度的“ 无限” 被动度使其控制特别具有挑战性。 在本文中,我们利用一个以前开发的模型,将软臂与一系列通用连接等同起来,设计两个闭环控制器:一个用于轨迹跟踪的配置空间控制器和一个用于控制终端效应器位置的任务空间控制器。一个四部分软臂的广泛实验和模拟证明在以下几个方面有很大改进:(a) 配置空间控制器的高级跟踪准确性;(b) 减少任务空间控制器的沉积时间和稳定状态错误。 任务空间控制器在软臂和环境之间的相互作用中也被证实是有效的。