Path planning and intelligent control of a soft robot arm based on gas-structure coupling actuators
A fully 3D-printed soft pneumatic robotic arm based on two types of gas-structure coupling actuators is designed for on-orbit servicing. The path planning algorithm and trajectory tracking control strategy of the arm are developed. A model-free closed-loop control system with a PID controller and an...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2022-11-01
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| Series: | Frontiers in Materials |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/fmats.2022.1052538/full |
| _version_ | 1797983841195917312 |
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| author | Yan Xu Hongwei Li Hua Li Guanhui Fang Guanhui Fang He Jia He Jia |
| author_facet | Yan Xu Hongwei Li Hua Li Guanhui Fang Guanhui Fang He Jia He Jia |
| author_sort | Yan Xu |
| collection | DOAJ |
| description | A fully 3D-printed soft pneumatic robotic arm based on two types of gas-structure coupling actuators is designed for on-orbit servicing. The path planning algorithm and trajectory tracking control strategy of the arm are developed. A model-free closed-loop control system with a PID controller and an iterative learning controller is built to improve the performance speed for repeated tasks. An experiential knowledge database for an iterative learning controller is described. The effectiveness of the iterative learning controller is verified by comparative experiments. The obstacle avoidance path planning algorithm based on the A* algorithm is presented. The validity of the path planning algorithm and trajectory tracking control strategy are verified by obstacle avoidance path planning experiments. The experimental results show that intelligent motion control and obstacle avoidance of the fully 3D-printed soft robotic arms are realized within an acceptable error. |
| first_indexed | 2024-04-11T06:53:18Z |
| format | Article |
| id | doaj.art-5f69958f138c403985a1da18cbfc7aef |
| institution | Directory Open Access Journal |
| issn | 2296-8016 |
| language | English |
| last_indexed | 2024-04-11T06:53:18Z |
| publishDate | 2022-11-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Materials |
| spelling | doaj.art-5f69958f138c403985a1da18cbfc7aef2022-12-22T04:39:07ZengFrontiers Media S.A.Frontiers in Materials2296-80162022-11-01910.3389/fmats.2022.10525381052538Path planning and intelligent control of a soft robot arm based on gas-structure coupling actuatorsYan Xu0Hongwei Li1Hua Li2Guanhui Fang3Guanhui Fang4He Jia5He Jia6School of Aeronautics and Astronautics, Zhejiang University, Hangzhou, Zhejiang, ChinaSchool of Aeronautics and Astronautics, Zhejiang University, Hangzhou, Zhejiang, ChinaSchool of Aeronautics and Astronautics, Zhejiang University, Hangzhou, Zhejiang, ChinaBeijing Institute of Space Mechanics & Electricity, Beijing, ChinaLaboratory of Aerospace Entry, Descent and Landing Technology CASC, Beijing, ChinaBeijing Institute of Space Mechanics & Electricity, Beijing, ChinaLaboratory of Aerospace Entry, Descent and Landing Technology CASC, Beijing, ChinaA fully 3D-printed soft pneumatic robotic arm based on two types of gas-structure coupling actuators is designed for on-orbit servicing. The path planning algorithm and trajectory tracking control strategy of the arm are developed. A model-free closed-loop control system with a PID controller and an iterative learning controller is built to improve the performance speed for repeated tasks. An experiential knowledge database for an iterative learning controller is described. The effectiveness of the iterative learning controller is verified by comparative experiments. The obstacle avoidance path planning algorithm based on the A* algorithm is presented. The validity of the path planning algorithm and trajectory tracking control strategy are verified by obstacle avoidance path planning experiments. The experimental results show that intelligent motion control and obstacle avoidance of the fully 3D-printed soft robotic arms are realized within an acceptable error.https://www.frontiersin.org/articles/10.3389/fmats.2022.1052538/fullfully 3D-printed soft robotic armgas-structure coupling actuatorspath planningiterative learning controlobstacle avoidance |
| spellingShingle | Yan Xu Hongwei Li Hua Li Guanhui Fang Guanhui Fang He Jia He Jia Path planning and intelligent control of a soft robot arm based on gas-structure coupling actuators Frontiers in Materials fully 3D-printed soft robotic arm gas-structure coupling actuators path planning iterative learning control obstacle avoidance |
| title | Path planning and intelligent control of a soft robot arm based on gas-structure coupling actuators |
| title_full | Path planning and intelligent control of a soft robot arm based on gas-structure coupling actuators |
| title_fullStr | Path planning and intelligent control of a soft robot arm based on gas-structure coupling actuators |
| title_full_unstemmed | Path planning and intelligent control of a soft robot arm based on gas-structure coupling actuators |
| title_short | Path planning and intelligent control of a soft robot arm based on gas-structure coupling actuators |
| title_sort | path planning and intelligent control of a soft robot arm based on gas structure coupling actuators |
| topic | fully 3D-printed soft robotic arm gas-structure coupling actuators path planning iterative learning control obstacle avoidance |
| url | https://www.frontiersin.org/articles/10.3389/fmats.2022.1052538/full |
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