基于惯性传感器的软体执行器角度与位置控制研究

Research on Angle and Position Control of Soft Actuator Based on Inertial Sensor

针对软体执行器的弯曲角度和端点位置特性进行研究,提出了一种基于惯性传感器反馈控制软体执行器的弯曲角度和位置的方法。对惯性传感器数据进行互补滤波融合,得到软体执行器的弯曲角度作为反馈调节高频电磁阀的通断时间实现可控弯曲形变,并通过角度验证位置的空间运动曲线。实验结果表明,该控制方式能够实现软体执行器的角度及位置精确控制。

For bend angles and end positions of soft actuator were studied,feedback control soft actuator bend angle and position method were proposed based on inertial sensor.Experience fused the data of inertial sensor by complementary filter to obtain the bending angle of the soft actuator.The result as feedback was used to adjust the on-off time of high-frequency electromagnetic valve to achieve controlled bending deformation,and the spatial position of the motion profile by the angular was veried. Experimental results show that the control mode enables the soft actuator to precisely control the angle and position.