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
收藏
页码：153 / 158
页数：6
相关论文
共 50 条
  • [41] KINEMATICS AND STATICS FOR SOFT CONTINUUM MANIPULATORS WITH HETEROGENEOUS SOFT MATERIALS
    Jiang, Fei
    Zhang, Haijie
    Zhao, Jianguo
    PROCEEDINGS OF THE ASME 9TH ANNUAL DYNAMIC SYSTEMS AND CONTROL CONFERENCE, 2016, VOL 2, 2017,
  • [42] An efficient soft computing-based calibration method for microscopic simulation models
    Shahraki, Hamed Shahrokhi
    Alecsandru, Ciprian
    Maghsoudi, Reza
    Amador, Luis
    JOURNAL OF TRANSPORTATION SAFETY & SECURITY, 2018, 10 (04) : 367 - 386
  • [43] Study on Parameters Calibration in Traffic Simulation Technology
    Liu, Yanxi
    CIVIL, STRUCTURAL AND ENVIRONMENTAL ENGINEERING, PTS 1-4, 2014, 838-841 : 2127 - 2130
  • [44] Simulation study of small domain with calibration approach
    Ashutosh, Ashutosh
    Shahzad, Usman
    Al-Noor, Nadia H.
    Rai, Piyush Kant
    CONCURRENCY AND COMPUTATION-PRACTICE & EXPERIENCE, 2022, 34 (27):
  • [45] Experimental Calibration and Validation of a Simulation Model for Fault Detection of HVAC Systems and Application to a Case Study
    Rosato, Antonio
    Guarino, Francesco
    Filomena, Vincenzo
    Sibilio, Sergio
    Maffei, Luigi
    ENERGIES, 2020, 13 (15)
  • [46] A rapid calibration procedure and case study for simplified simulation models of commonly used HVAC systems
    Liu, Guopeng
    Liu, Mingsheng
    BUILDING AND ENVIRONMENT, 2011, 46 (02) : 409 - 420
  • [47] CALIBRATION PROCEDURES WHEN BOTH MEASUREMENTS ARE SUBJECT TO ERROR - A COMPARATIVE SIMULATION STUDY OF THE UNREPLICATED CASE
    YUM, BJ
    LEE, SH
    COMPUTERS & INDUSTRIAL ENGINEERING, 1991, 20 (04) : 411 - 420
  • [48] KINEMATICS SIMULATION OF SERIAL MANIPULATORS
    PAUL, B
    ROSA, J
    INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1986, 5 (02): : 14 - 31
  • [49] MULTIDISCIPLINE SIMULATION OF ELASTIC MANIPULATORS
    ROLVAG, T
    HILDRE, HP
    SIVERTSEN, OI
    WALOEN, AO
    MODELING IDENTIFICATION AND CONTROL, 1992, 13 (04) : 221 - 240
  • [50] Experimental Study on the Multi-dimensional Microgravity Simulation System for Manipulators
    Mo Lidong
    Xu Zheyao
    Chen Yukun
    Qi Naiming
    Chi, GuanXin
    PROCEEDINGS OF 2015 INTERNATIONAL CONFERENCE ON FLUID POWER AND MECHATRONICS - FPM 2015, 2015, : 1222 - 1227
12345