Motion and shape control of soft robots and materials

Shabana, Ahmed A.; Eldeeb, Ahmed E.

doi:10.1007/s11071-021-06272-y

Cited by 23 publications

(13 citation statements)

References 80 publications

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“…Notable approaches rely on the CC and PCC assumptions [10], on extensions of beam theory [35], or employ rigid-link models [18]. An accurate continuum-based multibody modeling method for motion and shape control of soft robots was recently presented in [36], however closed-loop control was not demonstrated experimentally. Implementations of classical model-based controllers for soft continuum manipulators include model predictive control (MPC), sliding mode control (SMC) [2,4], and feedback linearization [40].…”

Section: Introductionmentioning

confidence: 99%

Nonlinear energy-based control of soft continuum pneumatic manipulators

et al. 2021

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This paper investigates the model-based nonlinear control of a class of soft continuum pneumatic manipulators that bend due to pressurization of their internal chambers and that operate in the presence of disturbances. A port-Hamiltonian formulation is employed to describe the closed loop system dynamics, which includes the pressure dynamics of the pneumatic actuation, and new nonlinear control laws are constructed with an energy-based approach. In particular, a multi-step design procedure is outlined for soft continuum manipulators operating on a plane and in 3D space. The resulting nonlinear control laws are combined with adaptive observers to compensate the effect of unknown disturbances and model uncertainties. Stability conditions are investigated with a Lyapunov approach, and the effect of the tuning parameters is discussed. For comparison purposes, a different control law constructed with a backstepping procedure is also presented. The effectiveness of the control strategy is demonstrated with simulations and with experiments on a prototype. To this end, a needle valve operated by a servo motor is employed instead of more sophisticated digital pressure regulators. The proposed controllers effectively regulate the tip rotation of the prototype, while preventing vibrations and compensating the effects of disturbances, and demonstrate improved performance compared to the backstepping alternative and to a PID algorithm.

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Section: Introductionmentioning

confidence: 99%

Nonlinear energy-based control of soft continuum pneumatic manipulators

et al. 2021

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“…The exible beams are modeled by ANCF, which is a well-known rigid-exible coupled modelling method that is able to deal with large-deformation and large-rotation cases [28-30] such as soft robot [31], exible membrane system [32] and uid materials [33][34][35]. The two-dimensional two-node Euler-Bernoulli ANCF beam element is adopted [36].…”

Section: Simulation Modelling Methodsmentioning

confidence: 99%

Influences of space perturbations on robotic assembly process of ultra-large structures

Yang

Zhang

et al. 2023

Nonlinear Dyn

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The space assembly of two exible beams by a dual-arm space robot is a typical assembly scenario to construct ultra-large space structure. Yet, previous studies mainly focused on the assembly of small structures, neglecting the in uences of space perturbations. In this paper, two modelling methods are proposed to study the in uences of space perturbations on the space assembly process of ultra-large space structures. Firstly, a theoretical modelling method is proposed based on quasi-static hypothesis and linear structural mechanics. The theoretical model can be utilized for analytically estimating the transverse and axial distributed forces of the exible beams, structural vibrations, and the control moments of the space robot. An orbit-attitude-structure coupled simulation model is then established to validate the theoretical model and study the dynamic behaviours more accurately, using absolute nodal coordinate formulation and natural coordinate formulation. Finally, the effects of the attitude angle, orbital radius, and lengths of beams on the dynamic responses during assembly are investigated.Theoretical and simulation results show that the control moments and structural vibration amplitude increase dramatically with the length of the beams. The effects of Coriolis force and gravity gradient must be considered for ultra-large space structures during assembly, otherwise the control moments and structural vibrations would be substantially underestimated. The results are instructive to the assembly strategy design as well as modular component design of ultra-large space structures.

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“…Owing to intrinsic compliance, environmental adaptability, and operational safety, continuum robots have become an area of great interest in robotics [1][2]. A large number of researchers have conducted related research [3][4], and many new continuum robots have been developed. Renda et al [5] and Xu et al [6] designed cable-driven continuum robots, Marchese et al [7], Tutcu et al [8] and Abeach et al [9] developed pneumatic continuum robots.…”

Section: Introductionmentioning

confidence: 99%

Variable Curvature Modeling Method of Soft Continuum Robots with Constraints

Liu

Shi

Chen

et al. 2022

Preprint

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The inherent compliance of continuum robots holds great promise in the fields of soft manipulation and safe human-robot interaction. This compliance reduces the risk of damage to the manipulated object and the surroundings. However, continuum robots have theoretically infinite degrees of freedom, and this high flexibility usually leads to complex deformations with external forces and positional constraints. How to describe this complex deformation is the main challenge for modelling continuum robots. In this study, we investigated a novel variable curvature modeling method for continuum robots, considering external forces and positional constraints. The robot configuration curve is described by the developed mechanics model, and then the robot is fitted to the curve. To validate the model, a 10-section continuum robot prototype with a length of 1m was developed. The ability of the robot to reach the target points and track complex trajectories with load verified the feasibility and accuracy of the model. This work maight serve a new perspective for design analysis and motion control of continuum robots.

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Motion and shape control of soft robots and materials

Cited by 23 publications

References 80 publications

Nonlinear energy-based control of soft continuum pneumatic manipulators

Nonlinear energy-based control of soft continuum pneumatic manipulators

Influences of space perturbations on robotic assembly process of ultra-large structures

Variable Curvature Modeling Method of Soft Continuum Robots with Constraints

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