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Updated: Sep 10, 2025
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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
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Una nueva metodología mejorada para el control de posición y orientación del robot I-SUPPORT
Carlos Relaño1, Zhiqiang Tang2, Cecilia Laschi2
1Systems Engineering and Automation Department, University Carlos III of Madrid, 28911 Madrid, Spain.
Biomimetics (Basel, Switzerland)
|August 27, 2025
Resumen
Este estudio introduce un nuevo método de control para el robot blando I-SUPPORT utilizando el control de orden fraccionario. Esta técnica avanzada mejora la versatilidad y el rendimiento del robot en diversas tareas.
Área de la Ciencia:
- La robótica
- Sistemas de control
- Ingeniería bioinspirada
Sus antecedentes:
- Los robots blandos ofrecen ventajas únicas en la destreza y la seguridad.
- El control de la posición y la orientación de los robots blandos sigue siendo un desafío importante.
- Los métodos de control existentes pueden carecer de robustez para tareas complejas.
Objetivo del estudio:
- Para presentar un nuevo método de control para el robot blando I-SUPPORT.
- Para demostrar la eficacia del control de orden fraccionario en la robótica suave.
- Para mejorar la versatilidad y la robustez del robot en diversas aplicaciones.
Principales métodos:
- Desacoplamiento de accionamiento del módulo para un control independiente.
- Aplicación de algoritmos de control de orden fraccionario.
- Validación experimental en configuraciones verticales y horizontales.
Principales resultados:
- Control exitoso de la posición y orientación para el robot blando.
- El rendimiento del control de orden fraccionario es comparable a los métodos de metaaprendizaje.
- Capacidad demostrada en tareas desde la orientación simple hasta las interacciones complejas.
Conclusiones:
- La estrategia de control de orden fraccionario propuesta es eficaz y robusta.
- Este método mejora las capacidades de control de robots blandos.
- Abre caminos para aplicaciones más amplias de robots blandos de inspiración biológica.
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