Soft robot active disturbance rejection control method based on dielectric elastomer actuator

A technology of dielectric elastic body and active disturbance rejection control, which is applied in the direction of piezoelectric effect/electrostrictive or magnetostrictive motors, generators/motors, electrical components, etc., can solve the problems of few research results and reduce the Input Signal Requirements, Effects of Enhanced Robustness and Adaptability

Inactive Publication Date: 2019-12-27
CHONGQING UNIV OF TECH
View PDF3 Cites 1 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Benefits of technology

This patented technology describes how a new type of material called ferroelectric polymers (FEP) was developed with potential applications in electronic devices such as sensors or displays. These materials are able to change their shape under external stimuli like pressure changes caused by touching them. By measuring these deformations accurately, researchers were able to predict what kind of damage they could cause beforehand during manufacture. They also found out if there had been any other things happening afterwards without being aware of this phenomenon until afterward. Overall, this innovation made possible better ways to design robots that actively avoid interference issues while still maintaining good performance over time.

Problems solved by technology

Technologies aim at developing a controlled machine called DEMACs(Dielectrode Electromagnetic Interfaces), specifically relating to how electric motile machines behave differently depending upon their environment. These techniques involve studying changes made over time due to external factors like temperature fluctuate, humidity change, stress waves, and vibrational modes generated through piezoelectrification processes. To address issues related to predictability, reliably implementing feedback algorithms, including closed loop control laws and finite element analysis simulations, we propose a solution involving solving equations describing the behavior of a specific type of dieelectical elastic membrane actuator undergoing plasma compression when subjected to constant voltages.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Soft robot active disturbance rejection control method based on dielectric elastomer actuator
  • Soft robot active disturbance rejection control method based on dielectric elastomer actuator
  • Soft robot active disturbance rejection control method based on dielectric elastomer actuator

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0034] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0035] 1. General description of the technical scheme of the present invention

[0036] In the present invention, a trajectory tracking controller is designed for a soft robot based on a dielectric elastomer actuator by using the active disturbance rejection control technology. First, based on the virtual work simulation method, the Gent model is used to describe the elastic energy, and a dynamic control model of the dielectric elastomer actuator is established. Second, because some model parameters of the dielectric elastomer actuator are difficult to obtain, and the dielectric elastomer The deformation rate of the actuator is difficult to measure by the sensor. Therefore, using the output measurement value of the dielectric elastomer actuator as the input signa...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a soft robot active disturbance rejection control method based on a dielectric elastomer actuator. The method comprises steps that firstly, a dynamic control model of the dielectric elastomer actuator is established in a virtual work simulation mode; secondly, an extended state observer is designed to obtain the unknown system dynamic information and the state quantity of the dielectric elastomer actuator, and the unknown system dynamic information and the state quantity are taken as alternative quantities to use in the control process; a state tracking error signal iscalculated by utilizing difference between the current state quantity and a designed state expected value, and a state tracking error signal is fed back to the dielectric elastomer actuator by utilizing a designed state error feedback controller, so a control target of the software robot is realized when the state tracking error is converged to zero. The method is advantaged in that the control strategy of the dielectric elastomer actuator does not need to depend on an accurate dynamic control model of the dielectric elastomer actuator, so the requirement of an input signal of a control systemis reduced, and robustness and self-adaptability of the software robot control system based on the dielectric elastomer actuator are enhanced.

Description

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Owner CHONGQING UNIV OF TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products