Design and control of a novel variable stiffness soft arm

ABSTRACT Soft robot arms possess such characteristics as light weight, simple structure and good adaptability to the environment, among others. On the other hand, robust control of soft robot arms presents many difficulties. Based on these reasons, this paper presents a novel design and modeling of a fuzzy active disturbance rejection control (FADRC) controller for a soft PAM arm. The soft arm comprises three contractile and one extensor PAMs, which can vary its stiffness independently of its position in space. Force analysis for the soft arm is conducted, and stiffness model of the arm is established based on the relational model of contractile and extensor PAM. The accuracy of stiffness model for the soft arm was verified through experiments. Associated to this, a controller based on the fuzzy adaptive theory and active disturbance rejection control (ADRC), FADRC, has been designed to control the arm. The fuzzy adaptive theory is used to adjust the parameters of the ADRC, the control algorithm has the ability to control stiffness and position of the soft arm. In this paper, FADRC was further verified through comparative experiments on the soft arm. This paper reinforces the hypothesis that FADRC control, as an algorithm, indeed possesses good robustness and adaptive abilities. GRAPHICAL ABSTRACT

[1]  Hongjiu Yang,et al.  Angle tracking of a pneumatic muscle actuator mechanism under varying load conditions , 2017 .

[2]  Manuel G. Catalano,et al.  Variable impedance actuators: A review , 2013, Robotics Auton. Syst..

[3]  Alin Albu-Schäffer,et al.  The DLR hand arm system , 2011, 2011 IEEE International Conference on Robotics and Automation.

[4]  Tanneguy Redarce,et al.  Sensor-based guidance control of a continuum robot for a semi-autonomous colonoscopy , 2007, Robotics Auton. Syst..

[5]  Darwin G. Caldwell,et al.  Shape function-based kinematics and dynamics for variable length continuum robotic arms , 2011, 2011 IEEE International Conference on Robotics and Automation.

[6]  Jianglong Guo,et al.  Development of a SMA-Fishing-Line-McKibben Bending Actuator , 2018, IEEE Access.

[7]  Tianjiang Zheng,et al.  Design, modeling and control of a pneumatically actuated manipulator inspired by biological continuum structures , 2013, Bioinspiration & biomimetics.

[8]  Karl Iagnemma,et al.  Design and Analysis of a Robust, Low-cost, Highly Articulated manipulator enabled by jamming of granular media , 2012, 2012 IEEE International Conference on Robotics and Automation.

[9]  Paolo Dario,et al.  Soft Robot Arm Inspired by the Octopus , 2012, Adv. Robotics.

[10]  Sun Hu.  The design and research of fuzzy self-adapted ADRC arithmetic , 2008 .

[11]  Ching-Ping Chou,et al.  Static and dynamic characteristics of McKibben pneumatic artificial muscles , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[12]  Ian D. Walker,et al.  Kinematics for multisection continuum robots , 2006, IEEE Transactions on Robotics.

[13]  Ling Zhao,et al.  Active disturbance rejection trajectory tracking control for two-joint driven by pneumatic artificial muscles , 2015, 2015 International Conference on Fluid Power and Mechatronics (FPM).

[14]  J. Dankelman,et al.  Vacuum packed particles as flexible endoscope guides with controllable rigidity , 2010 .

[15]  Hui Wang,et al.  A new fuzzy active-disturbance rejection controller applied in PMSM position servo system , 2014, 2014 17th International Conference on Electrical Machines and Systems (ICEMS).

[16]  Stefano Stramigioli,et al.  Energy-Efficient Variable Stiffness Actuators , 2011, IEEE Transactions on Robotics.

[17]  N. Tsagarakis,et al.  A 7 DOF pneumatic muscle actuator (pMA) powered exoskeleton , 1999, 8th IEEE International Workshop on Robot and Human Interaction. RO-MAN '99 (Cat. No.99TH8483).

[18]  Jonathan Rossiter,et al.  Soft pneumatic grippers embedded with stretchable electroadhesion , 2018 .

[19]  Kaspar Althoefer,et al.  Design of a variable stiffness flexible manipulator with composite granular jamming and membrane coupling , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[20]  Ian D. Walker,et al.  Field trials and testing of the OctArm continuum manipulator , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[21]  Emanuele Guglielmino,et al.  Modal kinematics for multisection continuum arms , 2015, Bioinspiration & biomimetics.

[22]  Alin Albu-Schäffer,et al.  Requirements for Safe Robots: Measurements, Analysis and New Insights , 2009, Int. J. Robotics Res..

[23]  Shuichi Wakimoto,et al.  Long bending rubber mechanism combined contracting and extending tluidic actuators , 2013, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[24]  D. Rus,et al.  Design, fabrication and control of soft robots , 2015, Nature.

[25]  张曦,et al.  Active disturbance rejection control system and control method for first-order pure lag object , 2013 .

[26]  Christopher D. Rahn,et al.  Design of an artificial muscle continuum robot , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[27]  Samia Nefti-Meziani,et al.  Novel Design of a Soft Lightweight Pneumatic Continuum Robot Arm with Decoupled Variable Stiffness and Positioning , 2017, Soft robotics.

[28]  Robert J. Wood,et al.  Soft Robotic Grippers for Biological Sampling on Deep Reefs , 2016, Soft robotics.

[29]  Srinivas Neppalli,et al.  Design, construction, and analysis of a continuum robot , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[30]  Hongjiu Yang,et al.  Positioning control of a one-DOF manipulator driven by pneumatic artificial muscles based on active disturbance rejection control , 2015, 2015 34th Chinese Control Conference (CCC).

[31]  Antonio Bicchi,et al.  Design and Control of a Variable Stiffness Actuator for Safe and Fast Physical Human/Robot Interaction , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[32]  Samia Nefti-Meziani,et al.  Variable stiffness Mckibben muscles with hydraulic and pneumatic operating modes , 2016, Adv. Robotics.

[33]  Jingqing Han,et al.  From PID to Active Disturbance Rejection Control , 2009, IEEE Trans. Ind. Electron..

[34]  Heinrich M. Jaeger,et al.  Universal robotic gripper based on the jamming of granular material , 2010, Proceedings of the National Academy of Sciences.

[35]  Michael A Meller,et al.  Hydraulic artificial muscles , 2012 .

[36]  Xu Wang,et al.  Active disturbance rejection fuzzy control of MTG fuel pressure , 2009, 2009 International Conference on Mechatronics and Automation.