电液软机器人的强大的控制电液软机器人.
Angella Volchko1, Shane K Mitchell2, Tyler G Scripps1
1Paul M. Rady Department of Mechanical Engineering, University of Colorado Boulder, Boulder, CO, United States.
Frontiers in robotics and AI
|August 19, 2024
概括
本研究提出了一个强大的控制框架,用于电液软机器人使用线性控制理论在非线性系统. 该方法可以精确控制复杂的软机器人系统,增强现实世界的应用.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统工程 控制系统工程
- 机械工程 机械工程
背景情况:
- 软机器人提供独特的优势,但由于其固有的非线性和不确定性,它们存在重大控制挑战.
- 现有的控制方法经常与软机器人系统的复杂性和合规性作斗争,限制了它们在现实世界中的适用性.
研究的目的:
- 为电液软机器人引入基于模型的强大控制框架.
- 开发一种方法,从经验数据中创建非线性软机器人系统的准确线性模型.
- 设计一个最佳的控制器,以确保尽管系统的不确定性,可靠的性能.
主要方法:
- 利用动态模式分解与控制 (DMDc) 来从系统测量中推导线性模型.
- 开发了跨不同运营区域的多个线性模型,以促进不确定性分析.
- 采用H-无限合成技术,为名义工厂设计一个强大的控制器.
- 将框架应用于多输入多输出 (MIMO) 液压增强自愈电静电 (HASEL) 驱动系统.
主要成果:
- 成功地证明了对一个复杂的MIMO HASEL驱动软机器人的强有力的控制.
- 该框架有效地简化了非线性软机器人系统的控制.
- 开发的线性模型准确地代表了各种操作状态中的系统动态.
结论:
- 拟议的基于模型的强有力的控制框架为软机器人系统的实时控制提供了灵活和有效的方法.
- 该方法解决了符合规范的机器人的固有复杂性和不确定性,为先进的现实世界应用铺平了道路.
- 线性控制理论与非线性软机器人动态的整合为未来软机器人研究和开发提供了一个有希望的方向.
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