Kinematic Modeling and Observer Based Control of Soft Robot using Real-Time Finite Element Method

Zhongkai Zhang 1, 2, 3 Jeremie Dequidt 1, 2, 3 Alexandre Kruszewski 1, 4, 3 Frederick Largilliere 1, 2, 3 Christian Duriez 1, 3
3 DEFROST - Deformable Robots Simulation Team
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
4 SyNeR - Systèmes Non Linéaires et à Retards
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
Abstract : This paper aims at providing a novel approach to modeling and controlling soft robots. Based on real-time Finite Element Method (FEM), we obtain a globally defined discrete-time kinematic model in the workspace of soft robots. From the kinematic equations, we deduce the soft-robot Jacobian matrix and discuss the conditions to avoid singular configurations. Then, we propose a novel observer based control methodology where the observer is built by Finite Element Model in this paper to deal with the control problem of soft robots. A closed-loop controller for position control of soft robot is designed based on the discrete-time model with feedback signal being extracted by means of visual servoing. Finally, experimental results on a parallel soft robot show the efficiency and performance of our proposed controller.
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Submitted on : Thursday, September 22, 2016 - 2:13:10 PM
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Zhongkai Zhang, Jeremie Dequidt, Alexandre Kruszewski, Frederick Largilliere, Christian Duriez. Kinematic Modeling and Observer Based Control of Soft Robot using Real-Time Finite Element Method. IROS2016 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2016, Daejeon, South Korea. ⟨hal-01370347⟩

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