Work

Modeling and precise tracking control of spatial bending pneumatic soft actuators

Year: 2024

Type: article

Abstract: In recent years, a variety of pneumatic soft actuators (PSAs) have been proposed due to the development of soft robots in biomimetic robots, medical devices, etc. At the same time, the modeling and control of PSAs remains an open question. In this paper, a spatial bending pneumatic soft actuator (SBPSA) modeling method based on the Prandtl–Ishlinskii (PI) model is proposed, and the inverse model is designed to compensate for hysteresis nonlinearity. Furthermore, an adaptive feedback controller combined with a hysteresis compensator is proposed for the precise control and tracking of SBPSAs. Finally, an experimental platform is built, and experimental results demonstrate the effectiveness of the proposed method for precise tracking.

Source: Biomimetic Intelligence and Robotics

DOI: 10.1016/j.birob.2024.100192

Authors: Yize Ma, Qingxiang Wu, Zehao Qiu, Yongchun Fang, Ning Sun

Institution: Nankai University

Language: English

Topic: Soft Robotics and Applications

Subfield: Biomedical Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $1,800

Funders: National Natural Science Foundation of China, Fundamental Research Funds for the Central Universities