Abstract
This paper proposes a novel active vibration damping mechanism for soft robots. In recent years, soft robots have gained increasing research attention for robotic researchers and industrial developers alike. Soft robots offer a significant number of advantages when it comes to the handling of fragile objects, clinical rehabilitation tasks, and human-machine interaction. Soft robots demonstrate a high degree of compliance and safety because of their inherent softness, achieving the same with rigid robots will require intricate controller design and sensing mechanisms. However, the most commonly used soft robots use pneumatic systems for actuation. These pneumatic soft robots undergo large amplitude vibrations when deactuated suddenly. These vibrations not only decrease the accuracy of these soft robots but also compromise their structural integrity, which results in a decrease in their useable lifespan. An active vibration damping mechanism is very much needed to increase the utility of soft robots in industrial applications. To accurately control the dynamic behavior of soft robots, we propose a sliding mode based controller with PID sliding surface. The proposed controller uses feedback error to define a PID sliding surface, and a nonlinear sliding mode controller works to keep the system attached to the sliding surface. The coefficients of the PID sliding surface determine the dynamic behavior of the soft robot. The performance of the proposed controller is verified by using a multi-chambered parallel soft robot. The experimental results demonstrate that the proposed controller can suppress vibration amplitude to a decidedly smaller range.
Highlights
Soft robots have found their applications in a wide array of areas, ranging from clinical rehabilitation robots and industrial robots to lifelike human-machine interaction systems [1]–[5]
The remaining paper is organized as follow: Section II describe the physical and mathematical model of the soft robot, Section III provides the formulation of sliding mode controller and proof of its convergence, Section IV present experimental results and Section V concludes the paper
The soft robot response demonstrates that the proposed controller is effective in regulating the dynamic response and actively suppressing the vibrations on deactuation
Summary
Soft robots have found their applications in a wide array of areas, ranging from clinical rehabilitation robots and industrial robots to lifelike human-machine interaction systems [1]–[5]. Li: Sliding Mode Control With PID Sliding Surface for Active Vibration Damping known as pneumatic soft robots [6], [16], [17], use pneumatic system, e.g. a pump, for actuation. We propose to use a nonlinear Sliding Mode Controller (SMC) [32] to actively damp the vibrations caused
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
