Abstract
Soft robots have been extensively studied for their ability to provide both good performance and safe human-robot interaction. In this paper, we present and compare the performance of two model-based control techniques with the common aim to independently and simultaneously control position and stiffness of a pneumatic soft robot’s joint. The dynamic system of a robot arm with flexible joints actuated by a pneumatic antagonistic pair of actuators, so-called McKibben artificial muscles, will be regarded, while its dynamic parameters will be considered imprecise. Simulation results are provided to verify the performance of the algorithms.
This paper was partly funded by the Program for excellent projects of young researchers (PROMIS), Science Fund and Ministry of Education, Science and Technological Development of the Republic of Serbia.
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Trumić, M., Jovanović, K., Fagiolini, A. (2020). Comparison of Model-Based Simultaneous Position and Stiffness Control Techniques for Pneumatic Soft Robots. In: Zeghloul, S., Laribi, M., Sandoval Arevalo, J. (eds) Advances in Service and Industrial Robotics. RAAD 2020. Mechanisms and Machine Science, vol 84. Springer, Cham. https://doi.org/10.1007/978-3-030-48989-2_24
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DOI: https://doi.org/10.1007/978-3-030-48989-2_24
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