ヒステリシス補償を備えたデュアルPAMソフトアクチュエータの軌道追従制御
Trajectory Tracking Control of Dual-PAM Soft Actuator with Hysteresis Compensator
空気圧人工筋を2本組み合わせた曲げ型ソフトアクチュエータに対し、参照軌道の変化に応じてPIDゲインを動的に調整することでヒステリシスを補償し、追従精度と応答速度を改善する適応制御法を提案した。
著者: Junyi Shen, Tetsuro Miyazaki, Shingo Ohno, Maina Sogabe, Kenji Kawashima
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Soft robotics is a swiftly evolving field. Pneumatic actuators are suitable for driving soft robots because of their superior performance. However, their control is challenging due to the hysteresis characteristics. In response to this challenge, we propose an adaptive control method to compensate for the hysteresis of soft actuators. Employing a novel dual pneumatic artificial muscle (PAM) bending actuator, the innovative control approach abates hysteresis effects by dynamically modulating gains within a traditional PID controller corresponding to the predicted variation of the reference trajectory. Through experimental evaluation, we found that the proposed control method outperforms its conventional counterparts regarding tracking accuracy and response speed. Our work reveals a new direction for advancing model-free control in soft actuators.
関連論文
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