Static Modeling of an Inflatable Robotic Arm for Aerospace Applications

Troise, Mario; Gaidano, Matteo; Palmieri, Pierpaolo; Ruggeri, Andrea; Mauro, Stefano

doi:10.1007/978-3-031-04870-8_35

Cited by 1 publication

(2 citation statements)

References 21 publications

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“…Soft manipulators are theoretically biomimetic robots composed of flexible materials with infinite degrees of freedom, and have become a hot topic in robotics research in recent years [1] . Compared with traditional rigid robots, soft manipulators have irreplaceable advantages in interacting with the surrounding environment due to their inherent flexibility and good environmental adaptability [2,3] . They play an irreplaceable role in social development.…”

Section: Introductionmentioning

confidence: 99%

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Research on Inverse Dynamics modeling of Soft Manipulator

Geng,

He,

Yang

et al. 2024

Preprint

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In recent years, soft manipulators have attracted much attention in the field of robotics research due to their dexterity and good environmental adaptability. However, accurately modeling of soft manipulators remains a difficult task due to the uncertainties in their dynamics. Therefore, this paper proposed an method to accurately model the inverse dynamics of a soft manipulator. A BP neural network model was used to establish the inverse dynamics model of the soft manipulator, and then the particle swarm optimization (PSO) algorithm was employed to optimize the initial weights and biases of the BP neural network, and finally the correspondence between the end position of the soft manipulator and the input air pressure was established. In addition, load weights were introduced as one of the network inputs to enhance the control accuracy of the soft manipulator when it carries a load. By trajectory tracking experiments with and without load, the method was proved to achieve an average end position error of 0.839 mm with a relative error of 0.98%. When carrying loads its average end error is 1.800 mm with a relative error of 2.12%. The results demonstrated that the proposed optimized method can effectively improve the accuracy of the soft manipulator under both no-load and load conditions.

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Section: Introductionmentioning

confidence: 99%

“…They play an irreplaceable role in social development. In the future, soft manipulators may be widely used in various application scenarios such as interventional surgery, rehabilitation medicine, industrial production, and marine exploration [2,4] . Researchers have achieved certain results in their research on soft robotic arms.…”

Section: Introductionmentioning

confidence: 99%