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Article Dans Une Revue IEEE Robotics and Automation Letters Année : 2023

Discrete Cosserat Static Model-Based Control of Soft Manipulator

Résumé

In this paper, the continuous Cosserat static model is re-formulated by employing the piecewise linear strain (PLS) approach, which can obtain the analytic formula of the model to facilitate the controller design. The robust closed-loop control architecture based on the PLS Cosserat static model for the soft arm around its workspace is then established. To validate the performance of the proposed model-based control scheme, the point-to-point and time-varying trajectory tracking experiments under external disturbances have been conducted on the soft manipulator actuated by cables.
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Dates et versions

hal-04325326 , version 1 (06-12-2023)

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Haihong Li, Lingxiao Xun, Gang Zheng, Federico Renda. Discrete Cosserat Static Model-Based Control of Soft Manipulator. IEEE Robotics and Automation Letters, 2023, 8 (3), pp.1739-1746. ⟨10.1109/LRA.2023.3243799⟩. ⟨hal-04325326⟩
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