Calibration of simulation for soft manipulators: a case study

被引：0

作者：

Novaes, Luis C. ^{[1
]}

Matos, Victor S. ^{[1
]}

Mendes, J. V. ^{[1
]}

Santos, Marcella ^{[1
]}

Silva, Lucas C. ^{[1
]}

机构：

[1] CIMATEC, Robot Dept, SENAI, Salvador, BA, Brazil

来源：

2023 LATIN AMERICAN ROBOTICS SYMPOSIUM, LARS, 2023 BRAZILIAN SYMPOSIUM ON ROBOTICS, SBR, AND 2023 WORKSHOP ON ROBOTICS IN EDUCATION, WRE | 2023年

关键词：

soft manipulator; simulation; calibration; FEM; Soft Robotics;

D O I：

10.1109/LARS/SBR/WRE59448.2023.10333006

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

This work proposes a guideline to calibrate a Finite Element Model (FEM) simulation of a soft manipulator. An overview of the fundamentals of this type of simulation and its usage in soft robotics is presented in a case study of the simulation of a prototype soft manipulator. The goal is to evaluate the accuracy of the position of the simulated model in comparison to a real soft manipulator. An examination of the relevant parameters in the simulation environment was performed, followed by a fine-tuning of these parameters to achieve an optimal result in terms of the fidelity of the simulation. The resulting method of calibration provided an average position error compare to the real model of 1.4 %, being suitable for similar manipulators.

引用

页码：153 / 158

页数：6

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