Control of soft robotic manipulators remains a challenge for designs with advanced capabilities and novel actuation. Two significant limitations are multi-axis, three-dimensional motion of soft bodies alongside actuator dynamics and constraints, both of which are present in shape-memory-alloy (SMA)-powered soft robots. This article addresses both concerns with a robust feedback control scheme, demonstrating state tracking control for a soft robot manipulator of this type. Our controller uses a static beam bending model to approximate the soft limb as an LTI system, alongside a singular-value-decomposition compensator approach to decouple the multi-axial motion and an anti-windup element for the actuator saturation. We prove stability and verify robustness of our controller, with robustness intended to account for the unmodeled dynamics. Our implementation is verified in hardware tests of a soft SMA-powered limb, showing low tracking error, with promising results for future multi-limbed robots.
翻译:软机器人操纵器的控制仍然是对具有先进能力和新激活能力的设计的挑战。 两大限制是多轴、软体的三维运动以及活性动力动力和制约,两者都存在于形状-模拟合金(SMA)驱动的软机器人中。 这篇文章用一个强大的反馈控制机制解决了两种关切,展示了对这种型软机器人操纵器的国家跟踪控制。 我们的控制器使用静态波纹弯曲模型将软肢作为LTI系统相近,同时采用单值-变形和解器方法来拆分多轴运动和活性动力饱和器的反风元素。 我们证明了我们的控制器的稳定性并核查了它的稳健性,其目的是说明未建模的动力。 我们的运行通过软SMA驱动器的软肢体的硬件测试得到验证,显示低度跟踪错误,对未来的多层机器人有希望的结果。