Video accompaniment to ICRA 2022 paper
Amirhossein Kazemipour, Oliver Fischer, Yasunori Toshimitsu, Ki Wan Wong, Robert K. Katzschmann
Soft robots are made of compliant materials and they can perform tasks that are challenging for rigid robots. However, their continuum nature makes it difficult to develop model-based control strategies. This work presents a robust model-based control scheme for soft continuum robots. Our dynamic model is based on the Euler-Lagrange approach, but it uses a more accurate description of the robot's inertia and does not include oversimplified assumptions. Based on this model, we introduce an adaptive sliding mode control scheme, which is robust against model parameter uncertainties and unknown input disturbances. We perform a series of experiments with a physical soft continuum arm to assess how effective our controller is at task-space trajectory tracking under different payloads. The controller's tracking performance is around 38% more accurate than that of other state-of-the-art controllers. Moreover, the proposed model-based control design is flexible and can be generalized to any continuum robotic arm with an arbitrary number of segments. With this control strategy, soft robotic manipulation can be more accurate while remaining robust to disturbances.
Негізгі бет Ғылым және технология Adaptive Dynamic Sliding Mode Control of Soft Continuum Manipulators
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