Model-less feedback control for soft manipulators

Soft manipulators have been a rising focus of soft robotics research. Taking advantage of soft materials and flexible, continuous movements, they have promising applicable prospect. However, their highly internal nonlinearity and unpredictable deformation caused by environmental effects make it difficult to build an exact model for control. In this work, we propose a generalized controller for soft manipulators using an estimated Jacobian-based model derived from structural analysis. The model can be simplified from reasonable assumptions of manipulator structure, and updated to balance conformity to reality and stability. In prototype experiments on an 3D multi-segment soft manipulator, the control method exhibits accuracy as well as adaptability to self gravity and external loads.

Authors

• Yusong Jin
• Yufei Wang
• Xiaotong Chen
• Zhanchi Wang
• Xinghua Liu
• Hao Jiang 0015
• Xiaoping Chen

Keywords

• End effectors
• Motion segmentation
• Jacobian matrices
• Aerospace electronics
• Feedback control
• Three-dimensional displays
• Soft Manipulator
• Environmental Effects
• Control Method
• External Load
• Soft Robots
• Neural Network
• Control System
• Feedback Loop
• Convergence Rate
• 3D Space
• Explicit Model
• Jacobian Matrix
• Feedback Processes
• Closed-loop Control
• Motion Capture System
• End-effector
• Velocity Ratio
• Hysteresis Effect
• Movement Of Segments
• End-effector Position
• Path Tracking
• Task Space
• Feedback Strategies
• Feedback Control Method