软体机器人的共位形状调节

中文摘要 AI 辅助

控制连续体软体机器人的形状通常需要精确的动态模型以及对所有自由度的驱动。我们证明，通过共位形状控制仅调节被驱动的坐标，能够实现这些坐标的可证明稳定收敛，并且在满足一个明确的相容性条件下，还能实现整个机器人形状的稳定收敛。尽管共位控制在刚性机器人高性能运动控制中是基石，但由于连续体软体机器人动力学的复杂性，将该公式扩展到连续体软体机器人一直具有挑战性。我们提出了首个用于连续体软体机器人共位控制的通用框架，并推导出一系列统一的控制器，包括PD、PID、PsatID及其带补偿和消除组件的对应版本。该框架统一了现有方法，同时引入了新的控制器设计。特别地，我们开发了三类具有局部、半全局和全局稳定性保证的PD和PID类调节器，并为每一类提供了严格的收敛性分析。广泛的实验验证证明了所提方法在不同模型离散化和控制器参数下的有效性。由此产生的框架提供了实用的设计指南，用于选择和实现具有已知稳定性保证的控制器，而无需完整的机器人动态模型。

英文摘要

Controlling the shape of a continuum soft robot typically requires an accurate dynamic model and actuation of all degrees of freedom. We show that regulating only the actuated coordinates, through collocated shape control, achieves provably stable convergence of those coordinates and, under an explicit compatibility condition, of the entire robot shape. While collocated control is a cornerstone of high-performance motion control in rigid robotics, extending this formulation to continuum soft robots has remained challenging due to the complexity of their dynamics. We present the first general framework for collocated control of continuum soft robots and derive a unified family of controllers, including PD, PID, PsatID, and their counterparts with compensation and cancellation components. The framework unifies existing approaches while introducing new controller designs. In particular, we develop three classes of PD and PID like regulators with local, semi-global, and global stability guarantees, and provide rigorous convergence analyses for each. Extensive experimental validation demonstrates the effectiveness of the proposed methods across different model discretizations and controller parameters. The resulting framework provides practical design guidelines for selecting and implementing controllers with known stability guarantees, without requiring a complete dynamic model of the robot

发表机构

• Sapienza University of Rome（罗马第一大学）
• Delft University of Technology（代尔夫特理工大学）
• German Aerospace Center (DLR)（德国航空航天中心）

机构由 AI 辅助整理，请以论文原文为准。

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33 pages, 22 figures