软体机器人建模与控制技术研究进展  

A Review of Soft Robot Modeling and Control

作　　者：梅栋 赵鑫 唐刚强[1,2] 赵春 李博 骆敏舟[1,2] 王延杰[1,2] MEI Dong;ZHAO Xin;TANG Gangqiang;ZHAO Chun;LI Bo;LUO Minzhou;WANG Yanjie(School of Mechanical and Electrical Engineering,Hohai University,Changzhou 213022,China;Jiangsu Key Laboratory of Special Robotics Technology,Hohai University,Changzhou 213022,China;School of Mechanical Engineering,Xi’an Jiaotong University,Xi’an 710049,China;Shaanxi Province Key Laboratory for Intelligent Robots,Xi’an Jiaotong University,Xi’an 710049,China)

机构地区：[1]河海大学机电工程学院,江苏常州213022 [2]河海大学江苏省特种机器人技术重点实验室,江苏常州213022 [3]西安交通大学机械工程学院,陕西西安710049 [4]西安交通大学陕西省智能机器人重点实验室,陕西西安710049

出　　处：《机器人》2024年第2期234-256,共23页Robot

基　　金：国家重点研发计划(2020YFB1312900);国家自然科学基金(51975184);中央高校基本科研业务费专项资金(B230205024).

摘　　要：由于软体机器人具有超高冗余、大变形以及非线性等特点,如何精准控制软体机器人实现预期目标的抓取和操作,一直以来都是研究人员广泛关注的问题。本文根据是否建立机器人数学模型、是否采用传感器反馈以及采用何种控制算法将现有软体机器人控制技术划分为基于模型的控制与无模型控制、开环控制与闭环控制、经典控制与智能控制3个类别,分别阐述软体机器人在建模、反馈以及控制算法方面的研究现状并进行归纳总结。最后,讨论了软体机器人控制技术面临的问题和挑战,并对未来软体机器人控制技术的发展进行了展望。Soft robots have such features as hyper redundancy,large deformation,and nonlinearity,and its precise control for grasping and manipulating the desired objects is a widely concerned problem.In this paper,the existing soft robot control technologies are divided into three categories:model-based control and model-free control,open-loop control and closed-loop control,classical control and intelligent control,according to whether to establish a mathematical model of the robot,whether to use sensor feedback,and what kind of control algorithm to be used.The research statuses of soft robots in modeling,feedback,and control algorithm are expounded and summarized,respectively.Finally,the problems and challenges of the soft robot control technology are discussed,and its future development is prospected.

关 键 词：软体机器人 控制技术 数学模型 传感器反馈 控制算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]