论文标题
软机器人臂的动态控制：一项实验研究
Dynamic Control of Soft Robotic Arm: An Experimental Study
论文作者
论文摘要
在本文中，创建了具有定制设计的执行器空间字符串编码器的增强软机器人原型，以研究动态的软机器人轨迹跟踪。软机器人原型嵌入了所提出的自适应被动性控制和有效的动态模型，使具有挑战性的轨迹跟踪任务成为可能。我们专注于跟踪准确性的探索以及提出的控制策略的全部潜力，通过在不同的操作场景上进行实验验证：各种跟踪速度和外部干扰。在所有实验场景中，提出的自适应被动性控制优于常规的PD反馈线性化控制。实验分析详细介绍了所提出的方法的优势和缺点，并指出了未来软机器人动态控制的下一步。
In this paper, a reinforced soft robot prototype with a custom-designed actuator-space string encoder are created to investigate dynamic soft robotic trajectory tracking. The soft robot prototype embedded with the proposed adaptive passivity control and efficient dynamic model make the challenging trajectory tracking tasks possible. We focus on the exploration of tracking accuracy as well as the full potential of the proposed control strategy by performing experimental validations at different operation scenarios: various tracking speed and external disturbance. In all experimental scenarios, the proposed adaptive passivity control outperforms the conventional PD feedback linearization control. The experimental analysis details the advantage and shortcoming of the proposed approach, and points out the next steps for future soft robot dynamic control.
