Energy shaping control of soft continuum manipulators with in-plane disturbances
File(s)
Published version
Author(s)
Franco, Enrico
Garriga Casanovas, arnau
Type
Journal Article
Abstract
Soft continuum manipulators offer levels of compliance and inherent safety that can render thema superior alternative to conventional rigid robotsfor a variety of tasks, such as medical interventions or human-robot interaction. However, the ability of soft continuum manipulators to compensate external disturbances need to be further enhanced to meet the stringent requirements of many practical applications.In this paper, we investigate the control problem forsoft continuum manipulators that consist of one inextensible segmentof constant section, which bends under the effect of the internal pressure and is subject to unknown disturbances acting in the plane of bending. A rigid-link model of the manipulatorwith a single input pressureis employed for control purposes and an energy-shaping approach isproposedto derive thecontrol law. A method for the adaptive estimation of disturbances is detailed and a disturbance compensation strategy is proposed.Finally, the effectiveness of the controlleris demonstrated with simulations and with experiments on an inextensible soft continuum manipulator that employs pneumatic actuation.
Date Issued
2021-01-01
Date Acceptance
2020-01-26
Citation
International Journal of Robotics Research, 2021, 40 (1), pp.236-255
ISSN
0278-3649
Publisher
SAGE Publications
Start Page
236
End Page
255
Journal / Book Title
International Journal of Robotics Research
Volume
40
Issue
1
Copyright Statement
© The Author(s) 2020. This article is distributed under the terms of the Creative Commons Attribution 4.0 License (https://creativecommons.org/licenses/by/4.0/) which permits any use, reproduction and distribution of the work without further permission provided the original work is attributed as specified on the SAGE and Open Access page (https://us.sagepub.com/en-us/nam/open-access-at-sage).
License URL
Sponsor
Engineering & Physical Science Research Council (EPSRC)
Identifier
https://journals.sagepub.com/doi/10.1177/0278364920907679
Grant Number
EP/R009708/1
Subjects
Science & Technology
Technology
Robotics
Soft continuum manipulators
underactuated mechanical systems
energy shaping
nonlinear control
adaptive control
MECHANICAL SYSTEMS
ROBOTS
DYNAMICS
STABILIZATION
FABRICATION
DESIGN
INTERCONNECTION
KINEMATICS
MODEL
Industrial Engineering & Automation
0801 Artificial Intelligence and Image Processing
0906 Electrical and Electronic Engineering
0913 Mechanical Engineering
Publication Status
Published
Date Publish Online
2020-03-19