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    Item type:Publication, Access status: with files ,
    Comparison of modern control methods for soft robots
    (Multidisciplinary Digital Publishing Institute (MDPI), 2022-12-03)
    Grube, Malte
    ;
    Wieck, Jan Christian
    ;
    Seifried, Robert
    With the rise in new soft robotic applications, the control requirements increase. Therefore, precise control methods for soft robots are required. However, the dynamic control of soft robots, which is required for fast movements, is still an open topic and will be discussed here. In this contribution, one kinematic and two dynamic control methods for soft robots are examined. Thereby, an LQI controller with gain scheduling, which is new to soft robotic applications, and an MPC controller are presented. The controllers are compared in a simulation regarding their accuracy and robustness. Additionally, the required implementation effort and computational effort is examined. For this purpose, the trajectory tracking control of a simple soft robot is studied for different trajectories. The soft robot is beam-shaped and tendon-actuated. It is modeled using the piecewise constant curvature model, which is one of the most popular modeling techniques in soft robotics. In this paper, it is shown that all three controllers are able to follow the examined trajectories. However, the dynamic controllers show much higher accuracy and robustness than the kinematic controller. Nevertheless, it should be noted that the implementation and computational effort for the dynamic controllers is significantly higher. Therefore, kinematic controllers should be used if movements are slow and small oscillations can be accepted, while dynamic controllers should be used for faster movements with higher accuracy or robustness requirements.
    Publicationtype: Journal Article
    Scopus© Citations 5  176  175
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    Item type:Publication, Access status: with files ,
    Simulation of soft robots with nonlinear material behavior using the cosserat rod theory
    (SCIPEDIA, 2022-11-24)
    Grube, Malte
    ;
    Seifried, Robert
    For the simulation and model-based control of soft robots accurate models are required. In this contribution the simulation of a simple soft robot with the cosserat rod theory is examined for both linear and nonlinear material models. The soft robot is fabricated out of silicone. Thereby stiffness and damping properties are investigated. In addition to the achievable accuracy, the computation time is also examined.
    Publicationtype: Conference Paper
      106  222