Abstract
This paper focus on dynamic visual seroving of a cable-driven soft robotic manipulator system. The soft robotic manipulator has no rigid structure. Based on Lagrange mechanics, kinetic energy, elastic potential energy and gravitational potential energy of each segment are analyzed, thus general dynamic equation of the soft robotic manipulator is obtained. On this basis, a depth-independent image Jacobian matrix is presented and an image-based visual servo controller is designed. Applied by adaptive algorithm, the controller could estimate unknown 3D feature positions online, and Lyapunov method is involved to prove the stability of the system. Experiments are conducted to demonstrate reasonableness and validity of dynamic model of the soft robotic manipulator and image-based adaptive visual servo controller.
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