空気圧連続曲げアクチュエータのヒステリシス補償のための2自由度適応制御
Two Degree of Freedom Adaptive Control for Hysteresis Compensation of Pneumatic Continuum Bending Actuator
空気圧連続曲げアクチュエータのヒステリシスを補償するため、フィードバックとフィードフォワードの両方に適応性を持たせた2自由度適応制御を提案し、高い軌道追従精度を実現した。
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, with their inherent flexibility and infinite degrees of freedom (DoF), offer promising advancements in human-machine interfaces. Particularly, pneumatic artificial muscles (PAMs) and pneumatic bending actuators have been fundamental in driving this evolution, capitalizing on their mimetic nature to natural muscle movements. However, with the versatility of these actuators comes the intricate challenge of hysteresis - a nonlinear phenomenon that hampers precise positioning, especially pronounced in pneumatic actuators due to gas compressibility. In this study, we introduce a novel 2-DoF adaptive control for precise bending tracking using a pneumatic continuum actuator. Notably, our control method integrates adaptability into both the feedback and the feedforward element, enhancing trajectory tracking in the presence of profound nonlinear effects. Comparative analysis with existing approaches underscores the superior tracking accuracy of our proposed strategy. This work discusses a new way of simple yet effective control designs for soft actuators with hysteresis properties.
