Soft robot state feedback control method based on dielectric elastomer actuator

A dielectric elastomer and state feedback technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of few research results and so on

Active Publication Date: 2021-04-02
CHONGQING UNIV OF TECH
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Problems solved by technology

[0005] At present, the research results for dielectric elastomer actuators mainly focus on t

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  • Soft robot state feedback control method based on dielectric elastomer actuator
  • Soft robot state feedback control method based on dielectric elastomer actuator
  • Soft robot state feedback control method based on dielectric elastomer actuator

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[0047] In order to make the purpose, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0048] 1. Summary of technical solutions of the present invention

[0049] The state feedback control method of the soft robot based on the dielectric elastomer actuator proposed by the present invention, the main idea is to use the radial basis function neural network (RBF NN) to target the trajectory tracking control task of the soft robot with the dielectric elastomer as the actuator, Study the design problem of intelligent controller with state feedback. First of all, in order to realize the controller design of the dielectric elastomer actuator system, it is necessary to establish a dynamic control model of the dielectric elastomer actuator by means of virtual work simulation. This model uses the Gent model to describe the elasticity of the dielectric elasto...

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Abstract

The invention discloses a soft robot state feedback control method based on a dielectric elastomer actuator. The method comprises the steps of building a dynamic control model of the dielectric elastomer actuator in a mode of virtual work simulation; building a Gaussian radial basis function neural network approximator for an unknown system function in the dynamic control model; by correspondinglydesigning a parameter updating rate, dynamically adjusting the parameters of the Gaussian radial basis function neural network approximator on line to realize the on-line approximation of the unknownsystem function; and finally, building a state feedback intelligent controller embedded with the Gaussian radial basis function neural network approximator in a state feedback control mode for dynamically adjusting the control input of the dielectric elastomer actuator on line in order to enable a state tracking error to converge to zero to realize a control target of a soft robot. According to the method, the control precision and the response speed of a control system are enhanced, and the adaptability and the intelligence of the soft robot based on the dielectric elastomer actuator are improved.

Description

technical field [0001] The present invention relates to the technical field of soft robots, in particular to a state feedback control method for soft robots based on dielectric elastomer actuators. Background technique [0002] Different from traditional robots with rigid structures, soft robots made of soft materials can bend, twist and stretch continuously, and can be used in special applications such as limited space, extreme environments, and complex and fragile grasping. It makes up for the rigid robot's complex structure, limited flexibility, and poor human-computer interaction safety and adaptability, and can complete many tasks that traditional rigid robots cannot achieve. Therefore, soft robots have great application prospects and become a hot research direction in the field of robotics. At the same time, due to the essential properties of soft materials, soft robots have unlimited degrees of freedom, so they are closer to natural organisms in terms of bionic struc...

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1628B25J9/16
Inventor 彭滔鲁云花周鹏肖汉光
Owner CHONGQING UNIV OF TECH
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