Modeling and precise tracking control of spatial bending pneumatic soft actuators

Yize Ma; Qingxiang Wu; Zehao Qiu; Yongchun Fang; Ning Sun

Biomimetic Intelligence and Robotics (Dec 2024)

Modeling and precise tracking control of spatial bending pneumatic soft actuators

Yize Ma,
Qingxiang Wu,
Zehao Qiu,
Yongchun Fang,
Ning Sun

Affiliations

Yize Ma: Institute of Robotics and Automatic Information Systems (IRAIS), College of Artificial Intelligence, Nankai University, Tianjin 300350, China; Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen 518083, China
Qingxiang Wu: Corresponding author.; Institute of Robotics and Automatic Information Systems (IRAIS), College of Artificial Intelligence, Nankai University, Tianjin 300350, China; Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen 518083, China
Zehao Qiu: Institute of Robotics and Automatic Information Systems (IRAIS), College of Artificial Intelligence, Nankai University, Tianjin 300350, China; Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen 518083, China
Yongchun Fang: Institute of Robotics and Automatic Information Systems (IRAIS), College of Artificial Intelligence, Nankai University, Tianjin 300350, China; Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen 518083, China
Ning Sun: Institute of Robotics and Automatic Information Systems (IRAIS), College of Artificial Intelligence, Nankai University, Tianjin 300350, China; Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen 518083, China

Journal volume & issue: Vol. 4, no. 4
p. 100192

Abstract

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In recent years, a variety of pneumatic soft actuators (PSAs) have been proposed due to the development of soft robots in biomimetic robots, medical devices, etc. At the same time, the modeling and control of PSAs remains an open question. In this paper, a spatial bending pneumatic soft actuator (SBPSA) modeling method based on the Prandtl–Ishlinskii (PI) model is proposed, and the inverse model is designed to compensate for hysteresis nonlinearity. Furthermore, an adaptive feedback controller combined with a hysteresis compensator is proposed for the precise control and tracking of SBPSAs. Finally, an experimental platform is built, and experimental results demonstrate the effectiveness of the proposed method for precise tracking.

Published in Biomimetic Intelligence and Robotics

ISSN: 2097-0242 (Print); 2667-3797 (Online)
Publisher: Elsevier
Country of publisher: Netherlands
LCC subjects: Technology: Electrical engineering. Electronics. Nuclear engineering; Science: Mathematics: Instruments and machines: Electronic computers. Computer science
Website: https://www.journals.elsevier.com/biomimetic-intelligence-and-robotics

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