Advertisement

Comparison of Model-Based Simultaneous Position and Stiffness Control Techniques for Pneumatic Soft Robots

Conference paper
  • 549 Downloads
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 84)

Abstract

Soft robots have been extensively studied for their ability to provide both good performance and safe human-robot interaction. In this paper, we present and compare the performance of two model-based control techniques with the common aim to independently and simultaneously control position and stiffness of a pneumatic soft robot’s joint. The dynamic system of a robot arm with flexible joints actuated by a pneumatic antagonistic pair of actuators, so-called McKibben artificial muscles, will be regarded, while its dynamic parameters will be considered imprecise. Simulation results are provided to verify the performance of the algorithms.

Keywords

Soft robots Variable stiffness actuator Pneumatic actuator Antagonistic drive Adaptive control Model based control 

References

  1. 1.
    Zanchettin, A.M., Ceriani, N.M., Rocco, P., Ding, H., Matthias, B.: Safety in human-robot collaborative manufacturing environments: metrics and control. IEEE Trans. Autom. Sci. Eng. 13(2), 882–893 (2016)CrossRefGoogle Scholar
  2. 2.
    Ajoudani, A., Zanchettin, A.M., Ivaldi, S., Albu-Schäffer, A., Kosuge, K., Khatib, O.: Progress and prospects of the human-robot collaboration. Auton. Robots 42(5), 957–975 (2018) CrossRefGoogle Scholar
  3. 3.
    Bicchi, A., Tonietti, G.: Design, realization and control of soft robot arms for intrinsically safe interaction with humans, pp. 79–87 (2002)Google Scholar
  4. 4.
    Albu-Schäffer, A., Haddadin, S., Ott, C., Stemmer, A., Wimböck, T., Hirzinger, G.: The DLR lightweight robot: design and control concepts for robots in human environments. Industr. Robot Int. J. 34(5), 376–385 (2007)CrossRefGoogle Scholar
  5. 5.
    Gavrilović, M., Marić, M.: Positional servo-mechanism activated by artificial muscles. Med. Biol. Eng. 7(1), 77–82 (1969)CrossRefGoogle Scholar
  6. 6.
    Chou, C.-P., Hannaford, B.: Measurement and modeling of McKibben pneumatic artificial muscles. IEEE Trans. Robot. Autom. 12(1), 90–102 (1996)CrossRefGoogle Scholar
  7. 7.
    Palli, G., Melchiorri, C., De Luca, A.: On the feedback linearization of robots with variable joint stiffness. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 1753–1759 (2008)Google Scholar
  8. 8.
    Jovanović, K., Lukić, B., Potkonjak, V.: Feedback linearization for decoupled position/stiffness control of bidirectional antagonistic drives. Facta Universitatis Ser. Electron. Energ. 31(1), 51–61 (2017)CrossRefGoogle Scholar
  9. 9.
    Petit, F., Daasch, A., Albu-Schäffer, A.: Backstepping control of variable stiffness robots. IEEE Trans. Control Syst. Technol. 23(6), 2195–2202 (2015)CrossRefGoogle Scholar
  10. 10.
    Ghorbel, F., Hung, J.Y., Spong, M.W.: Adaptive control of flexible-joint manipulators. IEEE Control Syst. Mag. 9(7), 9–13 (1989)CrossRefGoogle Scholar
  11. 11.
    Tonietti, G., Bicchi, A.: Adaptive simultaneous position and stiffness control for a soft robot arm. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 2, pp. 1992–1997 (2002)Google Scholar
  12. 12.
    Trumić, M., Jovanović, K., Fagiolini, A.: Decoupled nonlinear adaptive control of position and stiffness for pneumatic soft robots. Int. J. Robot. Res. (2020).  https://doi.org/10.1177/0278364920903787
  13. 13.
    Fagiolini, A., Trumić, M., Jovanović, K.: An input observer-based stiffness estimation approach for flexible robot joints. IEEE Robot. Autom. Lett. 5(2), 1843–1850 (2020)CrossRefGoogle Scholar
  14. 14.
    Ménard, T., Grioli, G., Bicchi, A.: A stiffness estimator for agonistic-antagonistic variable-stiffness-actuator devices. IEEE Trans. Robot. 30(5), 1269–1278 (2014)CrossRefGoogle Scholar
  15. 15.
    Potkonjak, V., Svetozarevic, B., Jovanovic, K., Holland, O.: The puller-follower control of compliant and noncompliant antagonistic tendon drives in robotic systems. Int. J. Adv. Robot. Syst. 8(5), 69 (2011)CrossRefGoogle Scholar

Copyright information

© The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.School of Electrical EngineeringUniversity of BelgradeBelgradeSerbia
  2. 2.Department of EngineeringUniversity of PalermoPalermoItaly

Personalised recommendations