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oaioai:HAL:hal-03605938v1

Design and closed-loop control of a tri-layer Polypyrrole based telescopic soft robot

Authors
Publication date
9 October 2016
Publisher
HAL CCSD
Doi

    Abstract

    International audienceA novel structure of a 2 DoF telescopic soft robot using a tri-layer Polypyrrole (PPy) soft micro-actuator with deployment is presented in this paper. The kinematic model is introduced and the Position Based Visual Servo (PBVS) control with path-planning and obstacle avoidance algorithms is developed. A prototype is presented and the control schemes are validated experimentally. A satisfactory accuracy with a submillimetric positioning error is obtained namely 287.6 microns for a circular path and 210 microns for obstacle avoidanc

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    HAL - Université de Franche-Comté

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    oaioai:HAL:hal-03605938v1
    Last time updated on 19/03/2022

    This paper was published in HAL - Université de Franche-Comté.

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