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The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
Published on: October 14, 2017
12.3K
Smart Braid Feedback for the Closed-Loop Control of Soft Robotic Systems.
Wyatt Felt1, Khai Yi Chin1, C David Remy1
1Robotics and Motion Laboratory (RAMlab), Department of Mechanical Engineering, University of Michigan, Ann Arbor, Michigan.
Soft Robotics
|October 25, 2017
Summary
Flexible, inductance-based Smart Braid sensors enable precise closed-loop motion control for soft robots. This overcomes limitations of traditional sensors, allowing for accurate feedback in challenging robotic applications.
Area of Science:
- Robotics
- Sensor Technology
- Control Systems
Background:
- Soft robots present unique motion control challenges due to their compliant nature and lack of discrete joints.
- Traditional sensors are often incompatible with soft systems, necessitating advanced feedback solutions.
- Existing laboratory-based sensing methods are not always suitable for real-world applications.
Purpose of the Study:
- To investigate the efficacy of flexible, inductance-based Smart Braid sensors for closed-loop motion control of soft robots.
- To evaluate the performance of Smart Braids in controlling robotic systems with inherent complexities like actuator elasticity.
- To demonstrate the potential of Smart Braids for accurate position feedback in soft robotic systems.
Main Methods:
- Embedded flexible Smart Braid sensors were utilized to measure the contraction of McKibben artificial muscles via inductance changes.
- Closed-loop control strategies were implemented and evaluated on two distinct soft robotic systems: a revolute joint and a planar continuum manipulator.
- The performance of the Smart Braid feedback system was quantified by measuring steady-state root-mean-square (RMS) errors in position and angle tracking.
Main Results:
- The proposed controller, utilizing Smart Braid feedback, successfully compensated for actuator connection elasticity in the revolute joint system.
- Accurate motion control was achieved for the revolute joint, with a steady-state RMS error of 1.5 degrees.
- The Smart Braid sensors enabled precise tip angle tracking for the continuum manipulator, achieving a steady-state RMS error of 1.25 degrees.
Conclusions:
- Smart Braid sensors offer a viable solution for accurate position feedback in soft robotic systems.
- This technology facilitates effective closed-loop motion control, addressing key limitations of current soft robotics.
- The demonstrated performance suggests Smart Braids are suitable for field applications of soft robotic systems.
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