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 |
| Published: |
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 |