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Comparison of modern control methods for soft robots
Citation Link: https://doi.org/10.15480/882.4774
Publikationstyp
Journal Article
Date Issued
2022-12-03
Sprache
English
Author(s)
Institut
TORE-DOI
Journal
Volume
22
Issue
23
Start Page
9464
Citation
Sensors 22 (23): 9464 (2022)
Publisher DOI
Scopus ID
Publisher
MDPI
Peer Reviewed
true
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.
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.
Subjects
soft robotics
control
dynamic control
kinematic control
piecewise constant curvature
DDC Class
600: Technik
620: Ingenieurwissenschaften
Publication version
publishedVersion
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