Visual Servoing Control Of Soft Robots Based On Finite Element Model
2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)(2017)
摘要
In this paper, we propose a strategy for the control of soft robots with visual tracking and simulation-based predictor. A kinematic model of soft robots is obtained thanks to the Finite Element Method (FEM) computed in real-time. The FEM allows to obtain a prediction of the Jacobian matrix of the robot. This allows a first control of the robot, in the actuator space. Then, a second control strategy based on the feedback of infrared cameras is developed to obtain a correction of the effector position. The robust stability of this closed-loop system is obtained based on Lyapunov stability theory. Otherwise, to deal with the problem of image features (the marker points placed on the end effector of soft robot) loss, a switched control strategy is proposed to combine both the open-loop controller and the closed-loop controller. Finally, experiments on a parallel soft robot driven by four cables are conducted and show the effectiveness of these methods for the real-time control of soft robots.
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关键词
open-loop controller,closed-loop controller,parallel soft robot,real-time control,visual servoing control,finite element model,visual tracking,simulation-based predictor,kinematic model,FEM,Jacobian matrix,actuator space,infrared cameras,effector position,obust stability,Lyapunov stability theory,image features,marker points,switched control strategy
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