Modeling and Hysteresis Inverse Compensation Control of Soft Pneumatic Gripper for Gripping Phosphorites
Year: 2025
Type: article
Abstract: The emergence of soft robots provides new opportunities for developing phosphorite processing equipment. In this article, a soft pneumatic gripper (SPG) for gripping phosphorites is designed. On this basis, the dynamic modeling method and hysteresis inverse compensation control method for the SPG are proposed. First, an SPG for gripping phosphorites is designed based on pneumatic actuation technology. Meanwhile, the gripping ability of the designed SPG is experimentally examined. Next, a dynamic model of the SPG is established by combining the Bouc–Wen model and a linear dynamic model. The output of the established dynamic model can fit the experimental data well, which shows that the established dynamic model of the SPG can describe its motion characteristics. Then, by constructing the inverse expression of the established dynamic model, the hysteresis inverse compensation control method for the SPG is presented to realize its motion control. Finally, the result of the control system simulation illustrates that the presented control method is effective.
Source: Actuators
DOI: 10.3390/act14040193
Authors: Yang Zhang, Junjie Lu, Zixin Huang, Bing Feng
Institutions: Wuhan Institute of Technology, Xihua University
Language: English
Subfield: Biomedical Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,896
OpenAlex ID: W4409412000