气动软执行器的基于任务空间模型的控制
Task-space model-based control of pneumatic soft actuators
- Vanderbilt University（范德堡大学）
- The University of Tennessee（田纳西大学）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
针对气动软执行器任务空间控制难题，本文提出基于非最小坐标离散弹性杆模型的实时动态控制框架，经实验验证可实现高精度中等带宽的平面软执行器任务空间控制。
AI中文摘要：
软执行器可实现灵巧且柔顺的交互，但由于强非线性、分布式变形以及动力学不确定性，闭环任务空间控制仍具挑战性。本文提出一种基于实时动态模型的任务空间反馈与估计框架，该框架基于非最小坐标离散弹性杆模型，采用绝对坐标与完整约束构建。所得结构在保留分布式力学特性的同时，通过稀疏系统矩阵维持计算效率，可实现最多10根离散杆的实时控制。该方法将准静态前馈逆模型与任务空间PI控制器、融合测量残差作为虚拟力的动态观测器相结合，能够从稀疏传感中实现全状态估计。在三种不同几何形状的平面气动软执行器上对该方法进行实验验证，涵盖五项任务：在工作空间绘制数字0-9（末端速度3-18 mm/s）、跟踪周期运动（最高37 cm/s）、跨平台泛化、减少传感条件以及实时用户自定义参考。我们的方法在精密运动中实现1.5-2.3 mm的均方根误差（RMSE），在1-2 Hz频率下实现5.5-12.4 mm的RMSE。结果表明，结构化非最小动态模型可实现自由空间中平面软气动执行器的实时、高精度、中等带宽任务空间控制。
英文摘要：
Soft actuators enable dexterous and compliant interaction, but closed-loop task-space control remains challenging due to strong nonlinearities, distributed deformation, and uncertainty in their dynamics. This paper presents a real-time dynamic-model-based task-space feedback and estimation framework based on a non-minimal coordinate discrete elastic rod model formulated in absolute coordinates with holonomic constraints. The resulting structure preserves distributed mechanics while maintaining computational efficiency through sparse system matrices, enabling real-time control with up to 10 discretized rods. A quasi-static feedforward inverse model is combined with a task-space PI controller and a dynamic observer that fuses measurement residuals as virtual forces, enabling full-state estimation from sparse sensing. The approach is experimentally validated on three planar pneumatic soft actuators with varying geometries. Across five tasks, including drawing the digits 0-9 across the workspace (3-18 mm/s tip speed), tracking periodic motion (up to 37 cm/s), cross-platform generalization, reduced sensing conditions, and real-time user-defined references, our method achieves 1.5-2.3 mm root mean square error (RMSE) for precision motions and 5.5-12.4 mm RMSE at 1-2 Hz. Results demonstrate that structured, non-minimal dynamic models can enable real-time, high-precision, moderate-bandwidth task-space control of planar soft pneumatic actuators in free space.
