This article belongs to the Special Issue Fractional Order Control Techniques for Robots. ; Controlling soft robots is a significant challenge due to the nonlinear elastic nature of the soft materials that conform their structure. This paper studies the identification and control problems of a novel two-degrees-of-freedom, tendon-actuated, soft robotic arm. A decoupled identification approach is presented; later, a fractional order control strategy is proposed and tested experimentally, in comparison with PI solutions. The simulation and experimental results show the goodness of the modeling and control approaches discussed. ; This research has been supported by the project SOFIA, with reference PID2020-113194GB-I00, funded by the Spanish Ministry of Economics, Industry and Competitiveness, and the project Desarrollo de articulaciones blandas para aplicaciones robóticas, with reference IND2020/IND-1739, funded by the Comunidad Autónoma de Madrid (CAM) (Department of Education and Research).
Modeling and control of a soft robotic arm based on a fractional order control approach
2023-01-01
AR/0000032390
Article (Journal)
Electronic Resource
English
DDC: | 629 |
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