Abstract
Abstract This paper addresses the kinematic control of a redundant soft robotic arm. Kinematic full pose control for soft robots is challenging because direct application of the classical controllers developed based on rigid robots to soft robots could lead to unreliable or infeasible motions. In this study, we explore the manipulability property of soft robotic arm and develop an advanced resolved-rate controller which prioritize position over orientation control and switches its modes and gains based on position and orientation manipulabilities, enabling stable motion even when the robot is close to singular and near-singular configurations. The simulation and experimental results indicate that our proposed method outperforms previous methods in terms of both accuracy and smoothness during operations.
Published Version
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