Journal
FRACTAL AND FRACTIONAL
Volume 7, Issue 1, Pages -Publisher
MDPI
DOI: 10.3390/fractalfract7010008
Keywords
soft robotics; fractional order control; modeling of soft robots; control of soft robots
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This paper investigates the identification and control problems of a novel two-degrees-of-freedom, tendon-actuated, soft robotic arm. A decoupled identification approach is proposed, and a fractional order control strategy is experimentally tested and compared with PI solutions. Simulation and experimental results demonstrate the effectiveness of the discussed modeling and control approaches.
Controlling soft robots is a significant challenge due to the nonlinear elastic nature of the soft materials that conform their structure. This paper studies the identification and control problems of a novel two-degrees-of-freedom, tendon-actuated, soft robotic arm. A decoupled identification approach is presented; later, a fractional order control strategy is proposed and tested experimentally, in comparison with PI solutions. The simulation and experimental results show the goodness of the modeling and control approaches discussed.
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