{"title":"基于减阶扩展位置动力学的软机械手实时控制","authors":"Na Li , Fei Li , Hao Yang , Haijun Peng","doi":"10.1016/j.mechmachtheory.2024.105774","DOIUrl":null,"url":null,"abstract":"<div><p>Soft robots are high-dimensional nonlinear systems coupled with both geometric and material nonlinearity. Control of such a system is complex and time-consuming. In this study, a real-time trajectory tracking control framework is established based on the reduced order extended position-based dynamics. In contrast to the common nonlinear model order reduction methods that require to collect a large number of data to create the motion subspace, this article's motion subspace is constructed based on the model configuration and material properties. The linear modes of the model and the related modal derivatives provide the reduced order matrix, which streamlines and increases the efficiency of model construction. Then, coupled with the instantaneous optimal control, a real-time reduced order model-based control framework of soft robots can be constructed. Experiments on trajectory tracking of a soft manipulator are conducted to verify the accuracy and efficiency of the proposed controller. The average error of all experiments is within 1 cm; and the single-step calculation time of the controller is about 0.057 s, which is less than the sampling period 0.1 s.</p></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"202 ","pages":"Article 105774"},"PeriodicalIF":4.5000,"publicationDate":"2024-08-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Real-time control of a soft manipulator based on reduced order extended position-based dynamics\",\"authors\":\"Na Li , Fei Li , Hao Yang , Haijun Peng\",\"doi\":\"10.1016/j.mechmachtheory.2024.105774\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><p>Soft robots are high-dimensional nonlinear systems coupled with both geometric and material nonlinearity. Control of such a system is complex and time-consuming. In this study, a real-time trajectory tracking control framework is established based on the reduced order extended position-based dynamics. In contrast to the common nonlinear model order reduction methods that require to collect a large number of data to create the motion subspace, this article's motion subspace is constructed based on the model configuration and material properties. The linear modes of the model and the related modal derivatives provide the reduced order matrix, which streamlines and increases the efficiency of model construction. Then, coupled with the instantaneous optimal control, a real-time reduced order model-based control framework of soft robots can be constructed. Experiments on trajectory tracking of a soft manipulator are conducted to verify the accuracy and efficiency of the proposed controller. The average error of all experiments is within 1 cm; and the single-step calculation time of the controller is about 0.057 s, which is less than the sampling period 0.1 s.</p></div>\",\"PeriodicalId\":49845,\"journal\":{\"name\":\"Mechanism and Machine Theory\",\"volume\":\"202 \",\"pages\":\"Article 105774\"},\"PeriodicalIF\":4.5000,\"publicationDate\":\"2024-08-30\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Mechanism and Machine Theory\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/S0094114X24002015\",\"RegionNum\":1,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"ENGINEERING, MECHANICAL\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Mechanism and Machine Theory","FirstCategoryId":"5","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0094114X24002015","RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, MECHANICAL","Score":null,"Total":0}
引用次数: 0
摘要
软机器人是一种高维非线性系统,同时具有几何和材料非线性。对这样的系统进行控制既复杂又耗时。在本研究中,我们建立了一个基于减阶扩展位置动力学的实时轨迹跟踪控制框架。与需要收集大量数据来创建运动子空间的普通非线性模型降阶方法不同,本文的运动子空间是基于模型配置和材料属性构建的。模型的线性模态和相关模态导数提供了降阶矩阵,简化并提高了模型构建的效率。然后,结合瞬时最优控制,就能构建基于模型的软机器人实时减阶控制框架。通过对软机械手轨迹跟踪的实验,验证了所提控制器的准确性和效率。所有实验的平均误差都在 1 cm 以内;控制器的单步计算时间约为 0.057 s,小于采样周期 0.1 s。
Real-time control of a soft manipulator based on reduced order extended position-based dynamics
Soft robots are high-dimensional nonlinear systems coupled with both geometric and material nonlinearity. Control of such a system is complex and time-consuming. In this study, a real-time trajectory tracking control framework is established based on the reduced order extended position-based dynamics. In contrast to the common nonlinear model order reduction methods that require to collect a large number of data to create the motion subspace, this article's motion subspace is constructed based on the model configuration and material properties. The linear modes of the model and the related modal derivatives provide the reduced order matrix, which streamlines and increases the efficiency of model construction. Then, coupled with the instantaneous optimal control, a real-time reduced order model-based control framework of soft robots can be constructed. Experiments on trajectory tracking of a soft manipulator are conducted to verify the accuracy and efficiency of the proposed controller. The average error of all experiments is within 1 cm; and the single-step calculation time of the controller is about 0.057 s, which is less than the sampling period 0.1 s.
期刊介绍:
Mechanism and Machine Theory provides a medium of communication between engineers and scientists engaged in research and development within the fields of knowledge embraced by IFToMM, the International Federation for the Promotion of Mechanism and Machine Science, therefore affiliated with IFToMM as its official research journal.
The main topics are:
Design Theory and Methodology;
Haptics and Human-Machine-Interfaces;
Robotics, Mechatronics and Micro-Machines;
Mechanisms, Mechanical Transmissions and Machines;
Kinematics, Dynamics, and Control of Mechanical Systems;
Applications to Bioengineering and Molecular Chemistry