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Precise control of soft robots is crucial for new applications. Dynamic controllers offer higher accuracy for fast movements, while kinematic controllers are simpler for slower tasks.

Keywords:
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Area of Science:

  • Robotics
  • Control Systems
  • Mechanical Engineering

Background:

  • Soft robotic applications are rapidly expanding, increasing the need for precise control methods.
  • Dynamic control for fast movements in soft robots remains a significant challenge.

Purpose of the Study:

  • To examine and compare kinematic and dynamic control methods for soft robots.
  • To evaluate controllers based on accuracy, robustness, and implementation/computational effort.

Main Methods:

  • Investigated one kinematic controller and two dynamic controllers (LQI with gain scheduling, MPC).
  • Utilized a beam-shaped, tendon-actuated soft robot modeled with the piecewise constant curvature method.
  • Compared controller performance in simulations for trajectory tracking.

Main Results:

  • All three controllers successfully followed examined trajectories.
  • Dynamic controllers demonstrated superior accuracy and robustness compared to the kinematic controller.
  • Dynamic controllers require significantly higher implementation and computational resources.

Conclusions:

  • Kinematic controllers are suitable for slow movements where minor oscillations are acceptable.
  • Dynamic controllers are recommended for high-speed applications demanding greater accuracy and robustness.