Control Oriented Modeling of Soft Robots: The Polynomial Curvature Case
Control Oriented Modeling of Soft Robots: The Polynomial Curvature Case
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DOI：
10.1109/lra.2019.2955936
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发表时间：
2020-04-01
影响因子：
5.2
通讯作者：
Rus, Daniela
中科院分区：
文献类型：
--
作者：
Della Santina, Cosimo;Rus, Daniela
软机器人动力学的复杂性要求开发专门针对控制应用的模型。在这封信中，我们在这个方向上迈出了第一步，提出了一个细长的软机器人的动力学模型，考虑到系统的完全无限维动力学结构。我们还介绍了一种策略，通过一个有限维系统在任何层次的细节近似这个模型。首先，我们分析了该模型的主要数学性质的情况下，轻量级和非轻量级的软机器人。然后，证明了以曲率常数项作为控制输出可以产生最小相位系统，从而为现有曲率控制技术提供了理论支持，同时也为先进的非线性控制技术的应用开辟了道路。最后，我们提出了一种新的控制器，即，PD-poly利用高阶变形的信息，在重力和一般非恒定曲率条件下实现零稳态调节误差。
The complex nature of soft robot dynamics calls for the development of models specifically tailored on the control application. In this letter, we take a first step in this direction by proposing a dynamic model for slender soft robots, taking into account the fully infinite-dimensional dynamical structure of the system. We also contextually introduce a strategy to approximate this model at any level of detail through a finite dimensional system. First, we analyze the main mathematical properties of this model in the case of lightweight and non lightweight soft robots. Then, we prove that using the constant term of curvature as control output produces a minimum phase system, in this way providing the theoretical support that existing curvature control techniques lack, and at the same time opening up to the use of advanced nonlinear control techniques. Finally, we propose a new controller, i.e., the PD-poly, which exploits information on high order deformations, to achieve zero steady state regulation error in presence of gravity and generic nonconstant curvature conditions.