| Autor: |
Yize Ma, Qingxiang Wu, Zehao Qiu, Yongchun Fang, Ning Sun |
| Jazyk: |
angličtina |
| Rok vydání: |
2024 |
| Předmět: |
|
| Zdroj: |
Biomimetic Intelligence and Robotics, Vol 4, Iss 4, Pp 100192- (2024) |
| Druh dokumentu: |
article |
| ISSN: |
2667-3797 |
| DOI: |
10.1016/j.birob.2024.100192 |
| Popis: |
In recent years, a variety of pneumatic soft actuators (PSAs) have been proposed due to the development of soft robots in biomimetic robots, medical devices, etc. At the same time, the modeling and control of PSAs remains an open question. In this paper, a spatial bending pneumatic soft actuator (SBPSA) modeling method based on the Prandtl–Ishlinskii (PI) model is proposed, and the inverse model is designed to compensate for hysteresis nonlinearity. Furthermore, an adaptive feedback controller combined with a hysteresis compensator is proposed for the precise control and tracking of SBPSAs. Finally, an experimental platform is built, and experimental results demonstrate the effectiveness of the proposed method for precise tracking. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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