用离散余弦杆模型实现软体机器人末端轨迹与形状的精准控制
Quasi-Static Control of Discrete Cosserat Rod
- 基于分段常应变法将非线性方程转为有限维非线性微分方程
- 通过应变与任务空间反馈线性化设计控制律，实现轨迹跟踪与形变控制
- 适用于需要精确路径与姿态调控的柔性机械系统
本文针对基于余弦杆理论建模的软体机器人，采用分段常应变（PCS）方法进行空间离散化，将描述余弦杆的非线性偏微分方程转化为有限维非线性常微分方程组。该简化使模型结构类似于串联刚性连杆机械臂。通过以外部力矩为控制输入，基于应变空间与任务空间的反馈线性化方法设计了闭环控制律。大量数值实验验证了该控制策略在末端执行器轨迹跟踪与软体机器人形变控制方面的有效性。
原文摘要 · Abstract (English)
In this paper, we design feedback control laws for soft robots modelled using the Cosserat rod theory, which is spatially discretised using the Piecewise Constant Strain (PCS) approach. The PCS approach approximates the nonlinear PDEs describing the Cosserat rod by a finite-dimensional system of nonlinear ODEs. This simplification results in a model describing soft robots which is similar to the serial rigid-link manipulators. We design feedback control laws for the quasi-static PCS model by using external wrenches as control inputs. The control laws are designed based on feedback linearisation in strain and task spaces. An extensive set of numerical results demonstrates the performance of the control laws for end-effector trajectory tracking and shape control of soft robots.
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