Fig 1 - available via license: Creative Commons Attribution 4.0 International
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The inflatable soft robotic arm used for the experimental evaluation of the proposed control approach. The system is pneumatically actuated and a 3D printed net is attached to the arm as an end-effector for catching a ball.
Source publication
This paper presents an offset-free model predictive controller for fast and accurate control of a spherical soft robotic arm. In this control scheme, a linear model is combined with an online disturbance estimation technique to systematically compensate model deviations. Dynamic effects such as material relaxation resulting from the use of soft mat...
Context in source publication
Context 1
... this work, ball catching is realized with a spherical soft robotic arm (see Fig. 1). As the application requires the controller to track a trajectory that is unknown beforehand, previously explored control approaches such as iterative learning control (as used in [18] for realizing a pick and place application) are not feasible for this application. Therefore, an offset-free MPC approach that can deal with an a ...
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