Design and Control of an Inflatable Spherical Robotic Arm for Pick and Place Applications

We present an inflatable soft robotic arm made of fabric that leverages state-of-the-art manufacturing techniques, leading to a robust and reliable manipulator. Three bellow-type actuators are used to control two rotational degrees of freedom, as well as the joint stiffness that is coupled to a long...

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Autores principales:	Matthias Hofer, Jasan Zughaibi, Raffaello D’Andrea
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	soft robotics fabric bellows pneumatic actuation control allocation linear parameter varying model timescale separation Materials of engineering and construction. Mechanics of materials TA401-492 Production of electric energy or power. Powerplants. Central stations TK1001-1841
Acceso en línea:	https://doaj.org/article/10493bba5ff3482b88ad1a52315c35b8
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spelling	oai:doaj.org-article:10493bba5ff3482b88ad1a52315c35b82021-11-25T15:56:57ZDesign and Control of an Inflatable Spherical Robotic Arm for Pick and Place Applications10.3390/act101102992076-0825https://doaj.org/article/10493bba5ff3482b88ad1a52315c35b82021-11-01T00:00:00Zhttps://www.mdpi.com/2076-0825/10/11/299https://doaj.org/toc/2076-0825We present an inflatable soft robotic arm made of fabric that leverages state-of-the-art manufacturing techniques, leading to a robust and reliable manipulator. Three bellow-type actuators are used to control two rotational degrees of freedom, as well as the joint stiffness that is coupled to a longitudinal elongation of the movable link used to grasp objects. The design is motivated by a safety analysis based on first principles. It shows that the interaction forces during an unexpected collision are primarily caused by the attached payload mass, but can be reduced by a lightweight design of the robot arm. A control allocation strategy is employed that simplifies the modeling and control of the robot arm and we show that a particular property of the allocation strategy ensures equal usage of the actuators and valves. The modeling and control approach systematically incorporates the effect of changing joint stiffness and the presence of a payload mass. An investigation of the valve flow capacity reveals that a proper timescale separation between the pressure and arm dynamics is only given for sufficient flow capacity. Otherwise, the applied cascaded control approach can introduce oscillatory behavior, degrading the overall control performance. A closed form feed forward strategy is derived that compensates errors induced by the longitudinal elongation of the movable link and allows the realization of different object manipulation applications. In one of the applications, the robot arm hands an object over to a human, emphasizing the safety aspect of the soft robotic system. Thereby, the intrinsic compliance of the robot arm is leveraged to detect the time when the robot should release the object.Matthias HoferJasan ZughaibiRaffaello D’AndreaMDPI AGarticlesoft roboticsfabric bellowspneumatic actuationcontrol allocationlinear parameter varying modeltimescale separationMaterials of engineering and construction. Mechanics of materialsTA401-492Production of electric energy or power. Powerplants. Central stationsTK1001-1841ENActuators, Vol 10, Iss 299, p 299 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	soft robotics fabric bellows pneumatic actuation control allocation linear parameter varying model timescale separation Materials of engineering and construction. Mechanics of materials TA401-492 Production of electric energy or power. Powerplants. Central stations TK1001-1841
spellingShingle	soft robotics fabric bellows pneumatic actuation control allocation linear parameter varying model timescale separation Materials of engineering and construction. Mechanics of materials TA401-492 Production of electric energy or power. Powerplants. Central stations TK1001-1841 Matthias Hofer Jasan Zughaibi Raffaello D’Andrea Design and Control of an Inflatable Spherical Robotic Arm for Pick and Place Applications
description	We present an inflatable soft robotic arm made of fabric that leverages state-of-the-art manufacturing techniques, leading to a robust and reliable manipulator. Three bellow-type actuators are used to control two rotational degrees of freedom, as well as the joint stiffness that is coupled to a longitudinal elongation of the movable link used to grasp objects. The design is motivated by a safety analysis based on first principles. It shows that the interaction forces during an unexpected collision are primarily caused by the attached payload mass, but can be reduced by a lightweight design of the robot arm. A control allocation strategy is employed that simplifies the modeling and control of the robot arm and we show that a particular property of the allocation strategy ensures equal usage of the actuators and valves. The modeling and control approach systematically incorporates the effect of changing joint stiffness and the presence of a payload mass. An investigation of the valve flow capacity reveals that a proper timescale separation between the pressure and arm dynamics is only given for sufficient flow capacity. Otherwise, the applied cascaded control approach can introduce oscillatory behavior, degrading the overall control performance. A closed form feed forward strategy is derived that compensates errors induced by the longitudinal elongation of the movable link and allows the realization of different object manipulation applications. In one of the applications, the robot arm hands an object over to a human, emphasizing the safety aspect of the soft robotic system. Thereby, the intrinsic compliance of the robot arm is leveraged to detect the time when the robot should release the object.
format	article
author	Matthias Hofer Jasan Zughaibi Raffaello D’Andrea
author_facet	Matthias Hofer Jasan Zughaibi Raffaello D’Andrea
author_sort	Matthias Hofer
title	Design and Control of an Inflatable Spherical Robotic Arm for Pick and Place Applications
title_short	Design and Control of an Inflatable Spherical Robotic Arm for Pick and Place Applications
title_full	Design and Control of an Inflatable Spherical Robotic Arm for Pick and Place Applications
title_fullStr	Design and Control of an Inflatable Spherical Robotic Arm for Pick and Place Applications
title_full_unstemmed	Design and Control of an Inflatable Spherical Robotic Arm for Pick and Place Applications
title_sort	design and control of an inflatable spherical robotic arm for pick and place applications
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/10493bba5ff3482b88ad1a52315c35b8
work_keys_str_mv	AT matthiashofer designandcontrolofaninflatablesphericalroboticarmforpickandplaceapplications AT jasanzughaibi designandcontrolofaninflatablesphericalroboticarmforpickandplaceapplications AT raffaellodandrea designandcontrolofaninflatablesphericalroboticarmforpickandplaceapplications
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Design and Control of an Inflatable Spherical Robotic Arm for Pick and Place Applications

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