In this article, the control problem of one section pneumatically actuated soft robotic arm is investigated in detail. To date, extensive prior work has been done in soft robotics kinematics and dynamics modeling. Proper controller designs can complement the modeling part since they are able to compensate other effects that have not been considered in the modeling, such as the model uncertainties, system parameter identification error, hysteresis, etc. In this paper, we explored different control approaches (kinematic control, PD+feedback linearization, passivity control, adaptive passivity control) and summarized the advantages and disadvantages of each controller. We further investigated the robot control problem in the practical scenarios when the sensor noise exists, actuator velocity measurement is not available, and the hysteresis effect is non-neglectable. Our simulation results indicated that the adaptive passivity control with sigma modification terms, along with a high-gain observer presents a better performance in comparison with other approaches. Although this paper mainly presented the simulation results of various controllers, the work will pave the way for practical implementation of soft robot control.
翻译:在本文中,我们详细研究了一个部分的气动活性软机器人臂的控制问题。迄今为止,在软机器人运动和动态建模方面已经做了大量先前的工作。适当的控制器设计可以补充模型部分,因为它们能够补偿模型中未考虑的其他影响,如模型不确定性、系统参数识别错误、歇斯底里等。在本论文中,我们探讨了不同的控制方法(皮肤控制、PD+feed后向线性化、被动控制、适应性被动控制),并总结了每个控制器的优缺点。我们进一步调查了在传感器噪音存在时的实际情况下的机器人控制问题,没有动作速度测量,而歇斯底里效应是不可分离的。我们的模拟结果表明,适应性被动控制加上污点修改术语,加上高额观察者,与其他方法相比表现更好。尽管本文主要介绍了各种控制器的模拟结果,但这项工作将为软机器人控制的实际实施铺平了道路。