Position and Force Control of a Soft Pneumatic Actuator
Position and Force Control of a Soft Pneumatic Actuator
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DOI：
10.1089/soro.2019.0065
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发表时间：
2020-04-22
期刊：
影响因子：
7.9
通讯作者：
Azhang, Zahra
中科院分区：
文献类型：
--
作者：
Abbasi, Peyman;Nekoui, Mohammad Ali;Azhang, Zahra
机器人系统的最新进展增加了许多领域对各种机器人的需求，例如航空航天和医疗。在这些领域使用硬机器人可能会造成不可挽回的损害;因此，科学家们从大自然中获得灵感，建造具有柔软身体的机器人。在这篇文章中，一个软气动执行器，在x-y平面整形控制。这种连续软机器人使用空气压力作为驱动，通过曲率运动控制机器人的端点位置，并施加到负载传感器的力。系统辨识方法被用来建模的软执行器的行为，模拟时间响应，并设计一个合适的控制器。在对执行器的行为进行建模后，采用级联控制策略对机器人进行控制。为了提高跟踪控制的精度，使用Prandtl-Ishlinskii（P-I）方法，测量、仿真系统响应中存在的滞后，然后使用逆P-I方法进行补偿。系统的性能，在所设计的控制架构的存在下，在实验室中的实验装置上进行模拟和实施。最后，跟踪结果，并比较这种软执行器。
Recent advances in robotic systems have increased the need for various kinds of robots in many fields, such as aerospace and medical. Utilizing hard robots in such fields can cause irrecoverable damages; therefore, scientists have taken inspiration from nature to build robots with soft bodies. In this article, a soft pneumatic actuator that reshapes in the x-y plane is controlled. This continuous soft robot uses air pressure as actuation to control the end point position of the robot through curvature motion, and the force applied to a load cell. System identification approaches are used to model the behavior of the soft actuator, simulate time response, and design a suitable controller. After modeling the behavior of the actuator, a cascaded control strategy is used to control the robot. To increase precision in tracking control, using the Prandtl-Ishlinskii (P-I) method, existing hysteresis in the response of the system is measured, simulated, and then compensated using the inverse P-I method. The performance of the system, in the presence of the designed control architecture, is simulated and implemented on an experimental setup in the laboratory. Finally, tracking results are presented and compared for this soft actuator.