This paper has been presented at XXXIX Jornadas de Automática. ; The purpose of this paper is to design a soft robotic neck prototype with two Degrees of Freedom (DOF) and propose a control system based on a fractional order PD controller (FPD). The neck will be able to perform movements of flexion, extension and lateral bending. To achieve these movements, the design is made based on a cable-driven mechanism, with components easy to manufacture in a 3D printer. Simulations are performed to validate the feasibility of the developed parallel robot prototype and the robustness of the proposed control scheme to mass changes at the tip. ; The research leading to these results has received funding from the HUMASOFT project, with reference DPI2016-75330-P, funded by the Spanish Ministry of Economy and Competitiveness.
A First Approach to a Proposal of a Soft Robotic Link Acting as a Neck
2018-09-05
Article/Chapter (Book)
Electronic Resource
English
DDC: | 629 |
IEEE | 2023
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