Modeling and precise tracking control of spatial bending pneumatic soft actuators
In recent years, a variety of pneumatic soft actuators (PSAs) have been proposed due to the development 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 (SB...
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| Format: | Article |
| Language: | English |
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Elsevier
2024-12-01
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| Series: | Biomimetic Intelligence and Robotics |
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| Online Access: | http://www.sciencedirect.com/science/article/pii/S2667379724000500 |
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| author | Yize Ma Qingxiang Wu Zehao Qiu Yongchun Fang Ning Sun |
| author_facet | Yize Ma Qingxiang Wu Zehao Qiu Yongchun Fang Ning Sun |
| author_sort | Yize Ma |
| collection | DOAJ |
| description | In recent years, a variety of pneumatic soft actuators (PSAs) have been proposed due to the development 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. |
| format | Article |
| id | doaj-art-e79755748c7041268cbdbd4750337b80 |
| institution | OA Journals |
| issn | 2667-3797 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | Elsevier |
| record_format | Article |
| series | Biomimetic Intelligence and Robotics |
| spelling | doaj-art-e79755748c7041268cbdbd4750337b802025-08-20T01:57:04ZengElsevierBiomimetic Intelligence and Robotics2667-37972024-12-014410019210.1016/j.birob.2024.100192Modeling and precise tracking control of spatial bending pneumatic soft actuatorsYize Ma0Qingxiang Wu1Zehao Qiu2Yongchun Fang3Ning Sun4Institute of Robotics and Automatic Information Systems (IRAIS), College of Artificial Intelligence, Nankai University, Tianjin 300350, China; Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen 518083, ChinaCorresponding author.; Institute of Robotics and Automatic Information Systems (IRAIS), College of Artificial Intelligence, Nankai University, Tianjin 300350, China; Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen 518083, ChinaInstitute of Robotics and Automatic Information Systems (IRAIS), College of Artificial Intelligence, Nankai University, Tianjin 300350, China; Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen 518083, ChinaInstitute of Robotics and Automatic Information Systems (IRAIS), College of Artificial Intelligence, Nankai University, Tianjin 300350, China; Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen 518083, ChinaInstitute of Robotics and Automatic Information Systems (IRAIS), College of Artificial Intelligence, Nankai University, Tianjin 300350, China; Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen 518083, ChinaIn recent years, a variety of pneumatic soft actuators (PSAs) have been proposed due to the development 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.http://www.sciencedirect.com/science/article/pii/S2667379724000500Spatial bendingHysteresis compensationPrandtl–Ishlinskii modelingAdaptive feedback control |
| spellingShingle | Yize Ma Qingxiang Wu Zehao Qiu Yongchun Fang Ning Sun Modeling and precise tracking control of spatial bending pneumatic soft actuators Biomimetic Intelligence and Robotics Spatial bending Hysteresis compensation Prandtl–Ishlinskii modeling Adaptive feedback control |
| title | Modeling and precise tracking control of spatial bending pneumatic soft actuators |
| title_full | Modeling and precise tracking control of spatial bending pneumatic soft actuators |
| title_fullStr | Modeling and precise tracking control of spatial bending pneumatic soft actuators |
| title_full_unstemmed | Modeling and precise tracking control of spatial bending pneumatic soft actuators |
| title_short | Modeling and precise tracking control of spatial bending pneumatic soft actuators |
| title_sort | modeling and precise tracking control of spatial bending pneumatic soft actuators |
| topic | Spatial bending Hysteresis compensation Prandtl–Ishlinskii modeling Adaptive feedback control |
| url | http://www.sciencedirect.com/science/article/pii/S2667379724000500 |
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