- Title
- A Control and Drive System for Pneumatic Soft Robots: PneuSoRD
- Creator
- Young, Taylor R.; Xavier, Matheus S.; Yong, Yeun K.; Fleming, Andrew J.
- Relation
- 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Proceedings of the 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (Prague, Czech Republic 27 September - 01 October, 2021) p. 2822-2829
- Publisher Link
- http://dx.doi.org/10.1109/IROS51168.2021.9635874
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- conference paper
- Date
- 2021
- Description
- This article describes an open-source hardware platform for controlling pneumatic soft robotic systems and presents the comparison of control schemes with on-off and proportional valves. The Pneumatic Soft Robotics Driver (PneuSoRD) can be used with up to one pump and pressure accumulator, 26 on-off valves, and 5 proportional valves, any of which can be operated in open or closed-loop control using up to 12 sensor inputs, which allows for the simultaneous control of a large number of soft actuators. The electronic driver connects to a National Instruments myRIO controller or an Arduino Due with the use of an adapter shield. A library of pressure control algorithms in both LabVIEW and Simulink is provided that includes bang-bang control, hysteresis control and PID control using on-off or proportional valves. LabVIEW and Simulink provide user-friendly interfaces for rapid prototyping of control algorithms and real-time evaluation of pressure dynamics. The characteristics and performance of these control methods and pneumatic setups are evaluated to simplify the choice of valves and control algorithm for a given application.
- Subject
- pneumatics; bang bang control systems; open systems; robotics; three term control systems; control schemes; SDG 9; Sustainable Development Goals
- Identifier
- http://hdl.handle.net/1959.13/1473732
- Identifier
- uon:49098
- Identifier
- ISSN:2153-0866
- Language
- eng
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