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A State Feedback Control Method for Soft Robots Based on Dielectric Elastomeric Actuators

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, achieve the effect of enhancing control accuracy and response speed, improving adaptability and intelligence

Active Publication Date: 2021-12-21
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 the material and physical properties, while the research results on the control

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  • A State Feedback Control Method for Soft Robots Based on Dielectric Elastomeric Actuators
  • A State Feedback Control Method for Soft Robots Based on Dielectric Elastomeric Actuators
  • A State Feedback Control Method for Soft Robots Based on Dielectric Elastomeric Actuators

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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 state feedback control method of a soft robot based on a dielectric elastic body actuator, which uses virtual work simulation to establish a dynamic control model of a dielectric elastic body actuator, and then controls the unknown system function in the dynamic control model Constructing a Gaussian radial basis function neural network approximator, and by correspondingly designing its parameter update rate, the parameters of the Gaussian radial basis function neural network approximator are dynamically adjusted online to realize the online approximation to the unknown system function, Finally, a state feedback intelligent controller embedded with the Gaussian radial basis function neural network approximator is constructed in a state feedback control mode, which is used to dynamically adjust the control input of the dielectric elastomer actuator online so that the state tracking error converges to zero , so as to achieve the control goal of soft robots, to enhance the control accuracy and response speed of the control system, and to improve the adaptability and intelligence of soft robots based on dielectric elastomer actuators.

Description

technical field [0001] The invention relates to the technical field of soft robots, in particular to a state feedback control method of a soft robot based on a dielectric elastic body actuator. 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 structure...

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Application Information

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Patent Type & Authority Patents(China)
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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