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.
Type de document :
Communication dans un congrès
IROS2016 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2016, Daejeon, South Korea
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Contributeur : Zhongkai Zhang <>
Soumis le : jeudi 22 septembre 2016 - 14:13:10
Dernière modification le : vendredi 13 avril 2018 - 01:27:41

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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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