フクシマ　エドワルド　フミヒコ   福島 E.文彦    所属   工学部 機械工学科    職種   教授
言語種別	英語
発行・発表の年月	2024/05
形態種別	学術論文
査読	査読あり
標題	Kinematic Modeling and Control for an Elephant-Trunk Soft Manipulator Considering Hysteresis
執筆形態	共著
掲載誌名	IEEE Transactions on Industrial Informatics
掲載区分	国外
出版社・発行元	IEEE
著者・共著者	H. Xiao, X. Lai, Q. Meng, J. She, E. F. Fukushima and M. Wu
概要	Soft manipulators have been widely developed due to their manipulation safety, design versatility, and motion dexterity. However, accurate kinematic modeling and control of soft manipulators are still challenging due to the complex nonlinear hysteresis in their motion characteristics. This article presents the fabrication of an elephant-trunk-inspired soft manipulator (ESM) using pneumatic bellows actuators (PBAs) and proposes a kinematicmodeling and control method considering hysteresis. The ESM contains three soft arms and a pneumatic law, while each soft arm consists of four PBAs connected in parallel. The forward kinematics of the ESM are modeled using the piecewise constant curvature (PCC) method. The kinematic model of the ESM consists of three parts: actuator space, configuration space, and task space. To address the inability of the PCC method to characterize the nonlinearity of soft materials, the hysteresis of the PBA in the actuator space is modeled using the Prandtl–Ishlinskii model. The inverse kinematic model of the ESM is derived from its forward kinematic model, and on this basis, a eedforward controller is developed to achieve position control of the ESM. The positional workspace of the ESM is analyzed using the Monte Carlo method. The validity of the kinematic model is verified experimentally. Position control and application experiments are conducted to demonstrate the practical application of the ESM.
外部リンクURL	https://ieeexplore.ieee.org/document/10543006