Soft Robot that imitates the movement of natural mollusks has a very wide application prospect in the fields of human-robot interaction and medical service.Model-based control can solve the drive output well based on the model under the premise of solving the robot kinematics model,so as to achieve better control.Aiming at the software and hardware design of the line drive soft robot,ROS platform is used to design the software nodes of each system.Combined with fuzzy control and local linear subsystem,a polynomial fuzzy model controller is designed and the stability of the system is analyzed.The experiment shows that the fuzzy control algorithm based on polynomial can control the soft robot to achieve the tracking target,and achieve the expected effect.
关键词
软体机器人/模糊控制算法/运动学建模/线驱动
Key words
soft robot/fuzzy control algorithm/kinematics modeling/line drive
维普
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