FEM-based kinematics and closed-loop control of soft, continuum manipulators

Abstract : This paper presents a modeling methodology and experimental validation for soft 1 manipulators to obtain forward and inverse kinematic models under quasistatic conditions. It offers a way to obtain the kinematic characteristics of this type of soft robots that is suitable for offline path planning and position control. The modeling methodology presented relies on continuum mechanics which does not provide analytic solutions in the general case. Our approach proposes a real-time numerical integration strategy based on Finite Element Method (FEM) with a numerical optimization based on Lagrangian Multipliers to obtain forward and inverse models. To reduce the dimension of the problem, at each step, a projection of the model to the constraint space (gathering actuators, sensors and end-effector) is performed to obtain the smallest number possible of mathematical equations to be solved. This methodology is applied to obtain the kinematics of two different manipulators with complex structural geometry. An experimental comparison is also performed in one of the robots, between two other geometric approaches and the approach that is showcased in this paper. A closed-loop controller based on a state estimator is proposed. The controller is experimentally validated and its robustness is evaluated using Lypunov stability method.
Type de document :
Article dans une revue
soft robotics, Mary Ann Liebert, Inc., In press
Liste complète des métadonnées

Littérature citée [44 références]  Voir  Masquer  Télécharger

https://hal.archives-ouvertes.fr/hal-01745625
Contributeur : Thor Morales Bieze <>
Soumis le : mercredi 28 mars 2018 - 13:51:10
Dernière modification le : mercredi 3 octobre 2018 - 01:08:29
Document(s) archivé(s) le : jeudi 13 septembre 2018 - 09:11:38

Fichier

Finite element method-based ki...
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : hal-01745625, version 1

Collections

Citation

Thor Morales Bieze, Frederick Largilliere, Alexandre Kruszewski, Zhongkai Zhang, Rochdi Merzouki, et al.. FEM-based kinematics and closed-loop control of soft, continuum manipulators. soft robotics, Mary Ann Liebert, Inc., In press. 〈hal-01745625〉

Partager

Métriques

Consultations de la notice

415

Téléchargements de fichiers

639