Mena Lisbeth, Monje Concepción A, Nagua Luis, Muñoz Jorge, Balaguer Carlos
Robotics Lab, Carlos III University of Madrid, Madrid, Spain.
Front Robot AI. 2020 Mar 3;7:27. doi: 10.3389/frobt.2020.00027. eCollection 2020.
In this paper we describe the control approaches tested in the improved version of an existing soft robotic neck with two Degrees Of Freedom (DOF), able to achieve flexion, extension, and lateral bending movements similar to those of a human neck. The design is based on a cable-driven mechanism consisting of a spring acting as a cervical spine and three servomotor actuated tendons that let the neck to reach all desired postures. The prototype was manufactured using a 3D printer. Two control approaches are proposed and tested experimentally: a motor position approach using encoder feedback and a tip position approach using Inertial Measurement Unit (IMU) feedback, both applying fractional-order controllers. The platform operation is tested for different load configurations so that the robustness of the system can be checked.
在本文中，我们描述了在现有两自由度（DOF）软机器人颈部的改进版本中测试的控制方法，该颈部能够实现类似于人类颈部的屈伸和侧屈运动。该设计基于一种电缆驱动机构，由一个充当颈椎的弹簧和三个由伺服电机驱动的肌腱组成，使颈部能够达到所有期望的姿势。该原型是使用3D打印机制造的。提出并通过实验测试了两种控制方法：一种是使用编码器反馈的电机位置方法，另一种是使用惯性测量单元（IMU）反馈的尖端位置方法，两者均应用分数阶控制器。针对不同的负载配置对平台操作进行了测试，以便检查系统的鲁棒性。
