Energy-shaping control of soft continuum manipulators with in-plane disturbances
Energy-shaping control of soft continuum manipulators with in-plane disturbances
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DOI：
10.1177/0278364920907679
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发表时间：
2020-03-19
影响因子：
9.2
通讯作者：
Garriga-Casanovas, Arnau
中科院分区：
文献类型：
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作者：
Franco, Enrico;Garriga-Casanovas, Arnau
软连续体机械手提供了一定程度的顺应性和固有的安全性，可以使它们成为传统刚性机器人的上级替代品，用于各种任务，例如医疗干预或人机交互。然而，软连续体机械臂的能力，以补偿外部干扰需要进一步提高，以满足许多实际应用的严格要求。在本文中，我们研究的控制问题的软连续体机械手，包括一个不可扩展的部分的恒定截面，弯曲的影响下的内部压力和受到未知的干扰作用在平面上的弯曲。一个刚性连接模型的机械手与一个单一的输入压力的控制目的，并提出了一种能量成形的方法来获得控制律。详细介绍了扰动的自适应估计方法，并提出了扰动补偿策略。最后，控制器的有效性证明了仿真和实验上的不可扩展的软连续体机械手，采用气动驱动。
Soft continuum manipulators offer levels of compliance and inherent safety that can render them a superior alternative to conventional rigid robots for a variety of tasks, such as medical interventions or human-robot interaction. However, the ability of soft continuum manipulators to compensate for external disturbances needs to be further enhanced to meet the stringent requirements of many practical applications. In this paper, we investigate the control problem for soft continuum manipulators that consist of one inextensible segment of constant section, which bends under the effect of the internal pressure and is subject to unknown disturbances acting in the plane of bending. A rigid-link model of the manipulator with a single input pressure is employed for control purposes and an energy-shaping approach is proposed to derive the control law. A method for the adaptive estimation of disturbances is detailed and a disturbance compensation strategy is proposed. Finally, the effectiveness of the controller is demonstrated with simulations and with experiments on an inextensible soft continuum manipulator that employs pneumatic actuation.