Abstract
Traditional robots were made of rigid metal materials. But in recent years, various robots based on soft materials and flexible parts have been developed. Compared to rigid actuators such as motors and hydraulic cylinders, soft actuators have the advantages of strong impact resistance and soft interaction, and are potentially attractive in the application related to the human-robot coexisted environment. However, the dynamic deformation of the soft actuator is complex, which brings the difficulty to integrate a proprioceptive sensor for precisely measuring its movement state. What’s more, it is a challenge work to establish the mathematical models and analysis controllers for the soft actuator. To overcome these issues, this article develops a waveguide sensor with high sensitivity and low hysteresis, which is made of PMMA optical fiber. Based on the proprioceptive state information of the soft actuator from the optic waveguide sensor, we identify the system model of the soft bending actuator through step response experiments. Moreover, the system model is simplified and linearized, and the adaptive controller is designed by the sliding-mode control theory. Our experimental results show the efficiency of our proposed methods.
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Acknowledgment
This work was partially supported by the National Natural Science Foundation of China (Grant No. 91648203 and No. 51335004), the International Science & Technology Cooperation Program of China (Grant No. 2016YFE0113600) and the Natural Science Foundation of Hubei (Grant No. 2018CFB431).
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Liu, C., Chen, W., Xiong, C. (2018). Sliding-Mode Control of Soft Bending Actuator Based on Optical Waveguide Sensor. In: Chen, Z., Mendes, A., Yan, Y., Chen, S. (eds) Intelligent Robotics and Applications. ICIRA 2018. Lecture Notes in Computer Science(), vol 10984. Springer, Cham. https://doi.org/10.1007/978-3-319-97586-3_39
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DOI: https://doi.org/10.1007/978-3-319-97586-3_39
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