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 a...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.展开更多
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).
文摘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.
