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Monje, Concepcion Alicia und Deutschmann, Bastian und Munoz, Jorge und Ott, Christian und Balaguer, Carlos (2023) Fractional Order Control of Continuum Soft Robots: Combining Decoupled/Reduced-Dynamics Models and Robust Fractional Order Controllers for Complex Soft Robot Motions. IEEE Control Systems Magazine, 43 (3), 66 -99. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/MCS.2023.3253420. ISSN 1066-033X.
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Offizielle URL: https://ieeexplore.ieee.org/abstract/document/10136425
Kurzfassung
Continuum soft robots are made up of soft material components (referred to as continuum), rigid components, actuators, and sensors. By structurally deforming the continuum, a motion of the entire system is initiated. To capture the interaction of the actuators on the soft material deformation and the corresponding sensor readings, mathematical models involving geometrical, material, and inertia parameters of the physical system must be set up to predict its complex physical behavior.
| elib-URL des Eintrags: | https://elib.dlr.de/197434/ | ||||||||||||||||||||||||
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| Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||||||
| Titel: | Fractional Order Control of Continuum Soft Robots: Combining Decoupled/Reduced-Dynamics Models and Robust Fractional Order Controllers for Complex Soft Robot Motions | ||||||||||||||||||||||||
| Autoren: |
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| Datum: | 25 Mai 2023 | ||||||||||||||||||||||||
| Erschienen in: | IEEE Control Systems Magazine | ||||||||||||||||||||||||
| Referierte Publikation: | Ja | ||||||||||||||||||||||||
| Open Access: | Nein | ||||||||||||||||||||||||
| Gold Open Access: | Nein | ||||||||||||||||||||||||
| In SCOPUS: | Ja | ||||||||||||||||||||||||
| In ISI Web of Science: | Ja | ||||||||||||||||||||||||
| Band: | 43 | ||||||||||||||||||||||||
| DOI: | 10.1109/MCS.2023.3253420 | ||||||||||||||||||||||||
| Seitenbereich: | 66 -99 | ||||||||||||||||||||||||
| Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||||||||||
| ISSN: | 1066-033X | ||||||||||||||||||||||||
| Status: | veröffentlicht | ||||||||||||||||||||||||
| Stichwörter: | Continuum Soft Robots, Fraction Order Control | ||||||||||||||||||||||||
| HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||
| HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||
| HGF - Programmthema: | Robotik | ||||||||||||||||||||||||
| DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||
| DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||||||
| DLR - Teilgebiet (Projekt, Vorhaben): | R - Roboterdynamik & Simulation [RO] | ||||||||||||||||||||||||
| Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||
| Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||||||||||
| Hinterlegt von: | Deutschmann, Dr. -Ing. Bastian | ||||||||||||||||||||||||
| Hinterlegt am: | 21 Sep 2023 10:09 | ||||||||||||||||||||||||
| Letzte Änderung: | 21 Sep 2023 10:09 |
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