A simple control strategy for increasing the soft bending actuator performance by using a pressure boost

Publikation: Beiträge in SammelwerkenAufsätze in KonferenzbändenForschungbegutachtet

Authors

High-speed actuation of soft actuators requires high source pressure to transfer air as quickly as possible into the actuator. Allowing high source pressure and having the deformation angle as the only control input may allow faster actuation, but there is a risk of bursting when the actuator is prevented from reaching the desired angle, for example, due to an obstacle. The other option to control the actuator’s deformation is based on controlling the pressure. In this paper, we present a simple control strategy that uses an initial pressure boost in a pressure-based PID controller showing the same performance as in angle-based PID control. The performance improvement is demonstrated experimentally on a standard soft bending actuator and a gecko-inspired, climbing soft robot.

OriginalspracheEnglisch
TitelASME 2019 International Mechanical Engineering Congress and Exposition : Volume 4: Dynamics, Vibration, and Control
Anzahl der Seiten9
VerlagThe American Society of Mechanical Engineers (ASME)
Erscheinungsdatum11.11.2019
AufsatznummerV004T05A065
ISBN (elektronisch)978-0-7918-5941-4
DOIs
PublikationsstatusErschienen - 11.11.2019
Extern publiziertJa
VeranstaltungASME 2019 International Mechanical Engineering Congress and Exposition - IMECE 2019: ASME’s largest research and development conference focused primarily on mechanical engineering - Calvin L. Rampton Salt Palace Convention Center, Salt Lake City, USA / Vereinigte Staaten
Dauer: 11.11.201914.11.2019
https://event.asme.org/IMECE2019

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Publisher Copyright:
Copyright © 2019 ASME.

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