论文标题
具有非恒定曲率变形的软机器人的动态建模和控制
Dynamical Modeling and Control of Soft Robots with Non-constant Curvature Deformation
论文作者
论文摘要
分段恒定曲率（PCC）模型是最广泛使用的软机器人建模和控制。但是，PCC在执行动态任务或与环境互动时无法准确描述软机器人的变形。本文介绍了一种简单的三二二二二匹朗（3D）建模方法，用于具有非恒定曲率变形的多段软机器人操纵器。我们通过将操纵器的每个段建模为通过通用关节连接的两个可拉伸链接来设计软操作器的运动学模型。基于此，我们为在企业空间中的动态轨迹跟踪和任务空间中的姿势控制提供了两个控制器。模拟和实验数据证明了模型精度。控制器在四段软机器人操纵器上实现，并在动态运动和姿势控制下以未知负载进行验证。实验结果表明，动态控制器可以以高达7m/s的速度进行稳定的参考轨迹跟踪。
The Piecewise Constant Curvature (PCC) model is the most widely used soft robotic modeling and control. However, the PCC fails to accurately describe the deformation of the soft robots when executing dynamic tasks or interacting with the environment. This paper presents a simple threedimensional (3D) modeling method for a multi-segment soft robotic manipulator with non-constant curvature deformation. We devise kinematic and dynamical models for soft manipulators by modeling each segment of the manipulator as two stretchable links connected by a universal joint. Based on that, we present two controllers for dynamic trajectory tracking in confguration space and pose control in task space, respectively. Model accuracy is demonstrated with simulations and experimental data. The controllers are implemented on a four-segment soft robotic manipulator and validated in dynamic motions and pose control with unknown loads. The experimental results show that the dynamic controller enables a stable reference trajectory tracking at speeds up to 7m/s.
