The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Iterative Learning Control of Trajectory Generation for the Soft Actuator

궤적 생성 반복 학습을 통한 소프트 액추에이터 제어 연구

  • Song, Eunjeong (Department of Mechanical Engineering, Sungkyunkwan University) ;
  • Koo, Jachoon (Department of Mechanical Engineering, Sungkyunkwan University)
  • Received : 2020.11.24
  • Accepted : 2021.01.19
  • Published : 2021.02.26
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Abstract

As the robot industry develops, industrial automation uses industrial robots in many parts of the manufacturing industry. However, rigidity-based conventional robots have a disadvantage in that they are challenging to use in environments where they grab fragile objects or interact with people because of their high rigidity. Therefore, researches on soft robot have been actively conducted. The soft robot can hold or manipulate fragile objects by using its compliance and has high safety even in an atypical environment with human interaction. However, these advantages are difficult to use in dynamic situations and control by the material's nonlinear behavior. However, for the soft robot to be used in the industry, control is essential. Therefore, in this paper, real-time PD control is applied, and the behavior of the soft actuator is analyzed by providing various waveforms as inputs. Also, Iterative learning control (ILC) is applied to reduce errors and select an ILC type suitable for soft actuators.

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References

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