Kinematic Modeling and Observer Based Control of Soft Robot using Real-Time Finite Element Method

被引：0
|
作者：
Zhang, Zhongkai [1 ,2 ]
Dequidt, Jeremie [1 ,2 ]
Kruszewski, Alexandre [1 ,2 ]
Largilliere, Frederick [1 ,2 ]
Duriez, Christian [1 ,2 ]
机构：
[1] Univ Lille, INRIA, Lille, France
[2] Centrale, Lille, France
来源：
2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016) | 2016年
关键词：
ADAPTIVE RADIOTHERAPY; SIMULATION; DRIVEN;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper aims at providing a novel approach to modeling and controlling soft robots. Based on real-time Finite Element Method (FEM), we obtain a globally defined discrete-time kinematic model in the workspace of soft robots. From the kinematic equations, we deduce the soft-robot Jacobian matrix and discuss the conditions to avoid singular configurations. Then, we propose a novel observer based control methodology where the observer is built by Finite Element Model in this paper to deal with the control problem of soft robots. A closed-loop controller for position control of soft robot is designed based on the discrete-time model with feedback signal being extracted by means of visual servoing. Finally, experimental results on a parallel soft robot show the efficiency and performance of our proposed controller.
引用
收藏
页码：5509 / 5514
页数：6
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