Modeling and precise tracking control of spatial bending pneumatic softactuators  

作　　者：Yize Ma Qingxiang Wu Zehao Qiu Yongchun Fang Ning Sun 

机构地区：[1]Institute of Robotics and Automatic Information Systems(IRAIS),College of Artificial Intelligence,Nankai University,Tianjin 300350,China [2]Institute of Intelligence Technology and Robotic Systems,Shenzhen Research Institute of Nankai University,Shenzhen 518083,China

出　　处：《Biomimetic Intelligence & Robotics》2024年第4期92-98,共7页仿生智能与机器人(英文)

基　　金：supported in part by the National Natural Science Foundation of China(52205019 and 62373198);in part by the Fundamental Research Funds for the Central Universities(078-63243157).

摘　　要：In recent years,a variety of pneumatic soft actuators(PSAs)have been proposed due to the develop-ment of soft robots in biomimetic robots,medical devices,etc.At the same time,the modeling and control of PSAs remains an open question.In this paper,a spatial bending pneumatic soft actuator(SBPSA)modeling method based on the Prandtl-Ishlinskii(PI)model is proposed,and the inverse model is designed to compensate for hysteresis nonlinearity.Furthermore,an adaptive feedback controller combined with a hysteresis compensator is proposed for the precise control and tracking of SBPSAs.Finally,an experimental platform is built,and experimental results demonstrate the effectiveness of the proposed method for precise tracking.

关 键 词：Spatial bending Hysteresis compensation Prandtl-Ishlinskii modeling Adaptive feedback control 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]