Discrete Cosserat Static Model-Based Control of Soft Manipulator
Haihong Li, Lingxiao Xun, Gang Zheng, Federico Renda
Abstract
In this letter, the continuous Cosserat static model is re-formulated by employing the piecewise linear strain (PLS) approach, which can obtain the analytic formula of the model to facilitate the controller design. The robust closed-loop control architecture based on the PLSCosserat static model for the soft arm around its workspace is then established. To validate the performance of the proposed model-based control scheme, the point-to-point and time-varying trajectory tracking experiments under external disturbances have been conducted on the soft manipulator actuated by cables.
Topics & Concepts
Control theory (sociology)WorkspaceTrajectoryPiecewiseComputer scienceManipulator (device)Controller (irrigation)Point (geometry)Tracking (education)Control (management)Control engineeringMathematicsRobotEngineeringPhysicsArtificial intelligenceMathematical analysisPedagogyAstronomyBiologyGeometryAgronomyPsychologySoft Robotics and ApplicationsMicro and Nano RoboticsModular Robots and Swarm Intelligence