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Tesi etd-09122016-112424


Tipo di tesi
Tesi di laurea magistrale
Autore
ANGELINI, FRANCO
URN
etd-09122016-112424
Titolo
Decentralized trajectory tracking control for soft robots interacting with the environment
Struttura
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Commissione
relatore Prof. Bicchi, Antonio
relatore Della Santina, Cosimo
relatore Dott. Garabini, Manolo
relatore Prof. Bianchi, Matteo
controrelatore Prof. Caiti, Andrea
Parole chiave
  • variable stiffness actuators
  • iterative learning control
  • soft robotics
Data inizio appello
29/09/2016;
Disponibilità
parziale
Riassunto analitico
Despite the classic nature of the problem, trajectory tracking for Soft Robots, i.e. robots with elastic elements deliberately introduced in their design, still presents several challenges. One of these is related to the complexity of Soft Robots dynamics, which presents hard-to-model nonlinearities, especially if compared with rigid robotic systems. Another challenge is to preserve the mechanical behavior of the Soft Robot. Indeed, in this thesis, I show how a feedback action proportional to the tracking error changes the natural compliance of the Soft Robot, de facto fighting against their main design purpose. Hence the key idea is to exploit a mostly feedforward component. In order to cope with the dynamics complexity, a decentralized, iteratively learned feedforward action has been adopted, combined with a locally optimal feedback control. Stability and convergence properties of the proposed algorithm are analyzed together with the stiffness preservation. The effectiveness of the method is experimentally verified on several robotic structures and working conditions, e.g. unexpected interactions where Soft Robots design is critical for safety and robustness.
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