Robust control strategy for improving the performance of a soft robotic link
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Robust control strategy for improving the performance of a soft robotic linkDate
2021Citation
Nagua, L., Muñoz, J., Mena, Lisbeth, Monje, C. A., Balaguer, C. Robust control strategy for improving the performance of a soft robotic link. En XLII Jornadas de Automática: libro de actas. Castelló, 1-3 de septiembre de 2021 (pp.499-506). DOI capítulo: https://doi.org/10.17979/spudc.9788497498043.499 DOI libro: https://doi.org/10.17979/spudc.9788497498043
Abstract
[Abstract] The robotic neck mechanism considered in this paper has as main element a soft link that emulates a human neck with two DOF (flexion, extension and lateral bending). The mechanism is based on a Cable-Driven Parallel Mechanism (CDPM) with components easy to manufacture in a 3D printer.Due to the soft link properties and the platform mechanics, it is important to provide a robust control system. Two designs, a robust PID controller and a Fractional Order PI controller (FOPI) are proposed and compared, the fractional order control showing an enhanced performance. Both control approaches are tested in the real prototype, validating the soft neck feasibility and showing the robustness of the platform to mass changes at the neck tip.
Keywords
Soft robotic neck
Cable-driven parallel mechanism (CDPM)
Fractional order control
Balaguer, Carlos
Cable-driven parallel mechanism (CDPM)
Fractional order control
Balaguer, Carlos
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Atribución-NoComercial-CompartirIgual 4.0 Internacional
https://creativecommons.org/licenses/by-nc-sa/4.0/deed.es
ISBN
978-84-9749-804-3
