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Modeling and Control of a Soft Robotic Arm Based on a Fractional Order Control Approach - RoboticsLab

Modeling and Control of a Soft Robotic Arm Based on a Fractional Order Control Approach

External link: Control of Soft Robot Arm

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Description

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.