Energy shaping control with integral action for soft continuum manipulators
Authors
Enrico Franco, Arnau Garriga Casanovas, Alejandro Donaire
Abstract
This paper investigates the control problem for soft continuum manipulators that operate on a plane and that are subject to unknown disturbances. In general, soft continuum manipulators have more degrees-of-freedom than control inputs and are characterised by nonlinear dynamics. Thus, achieving high position accuracy with these systems in the presence of disturbances is a challenging task. In this paper we present the design of a new partial-state feedback controller by using the port-Hamiltonian formulation and we develop a variation of the Integral Interconnection and Damping Assignment Passivity Based Control methodology for a class of soft continuum manipulators. The system dynamics on the bending plane is described by using a rigid-link underactuated model with n elastic virtual joints. The proposed control law regulates the tip rotation to the desired value while compensating unmodelled disturbances and only depends on the tip rotation, which is measurable, hence it is implementable. The effectiveness of the controller is demonstrated with simulations and with experiments on a soft continuum manipulator prototype that employs pneumatic actuation.
Keywords
Soft continuum robots; Underactuated systems; Port-hamiltonian systems
Citation
- Journal: Mechanism and Machine Theory
- Year: 2021
- Volume: 158
- Issue:
- Pages: 104250
- Publisher: Elsevier BV
- DOI: 10.1016/j.mechmachtheory.2021.104250
BibTeX
@article{Franco_2021,
title={{Energy shaping control with integral action for soft continuum manipulators}},
volume={158},
ISSN={0094-114X},
DOI={10.1016/j.mechmachtheory.2021.104250},
journal={Mechanism and Machine Theory},
publisher={Elsevier BV},
author={Franco, Enrico and Garriga Casanovas, Arnau and Donaire, Alejandro},
year={2021},
pages={104250}
}
References
- Chen, L. et al. Design and modeling of a soft robotic surface with hyperelastic material. Mechanism and Machine Theory vol. 130 109–122 (2018) – 10.1016/j.mechmachtheory.2018.08.010
- Abidi, H. et al. Highly dexterous 2‐module soft robot for intra‐organ navigation in minimally invasive surgery. The International Journal of Medical Robotics and Computer Assisted Surgery vol. 14 (2017) – 10.1002/rcs.1875
- Santiago, J. L. C., Godage, I. S., Gonthina, P. & Walker, I. D. Soft Robots and Kangaroo Tails: Modulating Compliance in Continuum Structures Through Mechanical Layer Jamming. Soft Robotics vol. 3 54–63 (2016) – 10.1089/soro.2015.0021
- Runciman, Soft Robotics in Minimally Invasive Surgery, Soft Robot (2019)
- Manti, Soft assistive robot for personal care of elderly people. (2016)
- Rus, D. & Tolley, M. T. Design, fabrication and control of soft robots. Nature vol. 521 467–475 (2015) – 10.1038/nature14543
- Franco, Adaptive control of a master-slave system for teleoperated needle insertion under MRI-guidance. IEEE (2015)
- Acome, E. et al. Hydraulically amplified self-healing electrostatic actuators with muscle-like performance. Science vol. 359 61–65 (2018) – 10.1126/science.aao6139
- Thuruthel, Control Strategies for Soft Robotic Manipulators: A Survey, Soft Robot (2018)
- George Thuruthel, T. et al. Learning Closed Loop Kinematic Controllers for Continuum Manipulators in Unstructured Environments. Soft Robotics vol. 4 285–296 (2017) – 10.1089/soro.2016.0051
- Bieze, T. M. et al. Finite Element Method-Based Kinematics and Closed-Loop Control of Soft, Continuum Manipulators. Soft Robotics vol. 5 348–364 (2018) – 10.1089/soro.2017.0079
- Li, M., Kang, R., Branson, D. T. & Dai, J. S. Model-Free Control for Continuum Robots Based on an Adaptive Kalman Filter. IEEE/ASME Transactions on Mechatronics vol. 23 286–297 (2018) – 10.1109/tmech.2017.2775663
- Yang, C., Kang, R., Branson, D. T., Chen, L. & Dai, J. S. Kinematics and statics of eccentric soft bending actuators with external payloads. Mechanism and Machine Theory vol. 139 526–541 (2019) – 10.1016/j.mechmachtheory.2019.05.015
- Gao, G., Wang, H., Liu, J. & Zheng, Y. Statics analysis of an extensible continuum manipulator with large deflection. Mechanism and Machine Theory vol. 141 245–266 (2019) – 10.1016/j.mechmachtheory.2019.07.015
- Wang, Dynamic Control of Multi-Section Three-Dimensional Continuum Manipulators Based on Virtual Discrete-Jointed Robot Models. IEEE/ASME Trans. Mechatronics. (2020)
- Falkenhahn, V., Hildebrandt, A., Neumann, R. & Sawodny, O. Dynamic Control of the Bionic Handling Assistant. IEEE/ASME Transactions on Mechatronics vol. 22 6–17 (2017) – 10.1109/tmech.2016.2605820
- Alqumsan, A. A., Khoo, S. & Norton, M. Robust control of continuum robots using Cosserat rod theory. Mechanism and Machine Theory vol. 131 48–61 (2019) – 10.1016/j.mechmachtheory.2018.09.011
- Sadati, S. M. H., Naghibi, S. E., Walker, I. D., Althoefer, K. & Nanayakkara, T. Control Space Reduction and Real-Time Accurate Modeling of Continuum Manipulators Using Ritz and Ritz–Galerkin Methods. IEEE Robotics and Automation Letters vol. 3 328–335 (2018) – 10.1109/lra.2017.2743100
- Godage, Accurate and Efficient Dynamics for Variable-Length Continuum Arms. A Center of Gravity Approach, Soft Robot (2015)
- Venkiteswaran, V. K., Sikorski, J. & Misra, S. Shape and contact force estimation of continuum manipulators using pseudo rigid body models. Mechanism and Machine Theory vol. 139 34–45 (2019) – 10.1016/j.mechmachtheory.2019.04.008
- Gravagne, I. A., Rahn, C. D. & Walker, I. D. Large deflection dynamics and control for planar continuum robots. IEEE/ASME Transactions on Mechatronics vol. 8 299–307 (2003) – 10.1109/tmech.2003.812829
- Bastos, A stable reentry trajectory for flexible manipulators. Int. J. Control. (2019)
- Della Santina, C. et al. Controlling Soft Robots: Balancing Feedback and Feedforward Elements. IEEE Robotics & Automation Magazine vol. 24 75–83 (2017) – 10.1109/mra.2016.2636360
- Angelini, F. et al. Decentralized Trajectory Tracking Control for Soft Robots Interacting With the Environment. IEEE Transactions on Robotics vol. 34 924–935 (2018) – 10.1109/tro.2018.2830351
- Santina, Model-based dynamic feedback control of a planar soft robot: trajectory tracking and interaction with the environment. Int. J. Rob. Res. (2020)
- Franco, E., Brown, T., Astolfi, A. & Rodriguez y Baena, F. Adaptive energy shaping control of robotic needle insertion. Mechanism and Machine Theory vol. 155 104060 (2021) – 10.1016/j.mechmachtheory.2020.104060
- Franco, E., Astolfi, A. & Rodriguez y Baena, F. Robust balancing control of flexible inverted-pendulum systems. Mechanism and Machine Theory vol. 130 539–551 (2018) – 10.1016/j.mechmachtheory.2018.09.001
- Amiri Moghadam, A. A. et al. Control-Oriented Modeling of a Polymeric Soft Robot. Soft Robotics vol. 3 82–97 (2016) – 10.1089/soro.2016.0002
- Ross, D., Nemitz, M. P. & Stokes, A. A. Controlling and Simulating Soft Robotic Systems: Insights from a Thermodynamic Perspective. Soft Robotics vol. 3 170–176 (2016) – 10.1089/soro.2016.0010
- Franco, Energy Shaping Control of Soft Continuum Manipulators with in-plane Disturbances. Int. J. Rob. Res. (2020)
- Ortega, R., Spong, M. W., Gomez-Estern, F. & Blankenstein, G. Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment. IEEE Transactions on Automatic Control vol. 47 1218–1233 (2002) – 10.1109/tac.2002.800770
- Franco, Model based adaptive control for a soft robotic manipulator. IEEE (2019)
- Ferguson, Matched disturbance rejection for a class of nonlinear systems. IEEE Trans. Automat. Contr (2019)
- Garriga-Casanovas, A., Collison, I. & Rodriguez y Baena, F. Toward a Common Framework for the Design of Soft Robotic Manipulators with Fluidic Actuation. Soft Robotics vol. 5 622–649 (2018) – 10.1089/soro.2017.0105
- Suzumori, K. Elastic materials producing compliant robots. Robotics and Autonomous Systems vol. 18 135–140 (1996) – 10.1016/0921-8890(95)00078-x
- Gómez-Estern, F. & Van der Schaft, A. J. Physical Damping in IDA-PBC Controlled Underactuated Mechanical Systems. European Journal of Control vol. 10 451–468 (2004) – 10.3166/ejc.10.451-468
- D. Mahindrakar, A., Astolfi, A., Ortega, R. & Viola, G. Further constructive results on interconnection and damping assignment control of mechanical systems: the Acrobot example. International Journal of Robust and Nonlinear Control vol. 16 671–685 (2006) – 10.1002/rnc.1088
- Serra, Control of Nonprehensile Planar Rolling Manipulation: a Passivity-Based Approach. IEEE Trans. Robot. (2019)
- Franco, E. Adaptive IDA‐PBC for underactuated mechanical systems with constant disturbances. International Journal of Adaptive Control and Signal Processing vol. 33 1–15 (2018) – 10.1002/acs.2947
- Franco, E., Rodriguez y Baena, F. & Astolfi, A. Robust dynamic state feedback for underactuated systems with linearly parameterized disturbances. International Journal of Robust and Nonlinear Control vol. 30 4112–4128 (2020) – 10.1002/rnc.4985
- Seong Young Ko & Rodriguez y Baena, F. Toward a Miniaturized Needle Steering System With Path Planning for Obstacle Avoidance. IEEE Transactions on Biomedical Engineering vol. 60 910–917 (2013) – 10.1109/tbme.2012.2227741