Dynamic Task Space Control Enables Soft Manipulators to Perform Real‐World Tasks

Dynamic motions are a key feature of robotic arms, enabling them to perform tasks quickly and efficiently. Soft continuum manipulators do not currently consider dynamic parameters when operating in task space. This shortcoming makes existing soft robots slow limits their ability deal with external forces, especially during object manipulation. We address this issue by using operational space control. Our control approach takes into account the 3D arm introduces new models that enable multi-segment operate smoothly Advanced methods, previously afforded only rigid robots, now adapted robots; for example, potential field avoidance was shown is extended robots. Using our approach, manipulator can achieve variety were possible: we evaluate manipulator's performance closed-loop controlled experiments such as pick-and-place, obstacle avoidance, throwing objects an attached gripper, deliberately applying forces surface drawing grasped piece chalk. Besides newly enabled skills, improves tracking accuracy 59% increases speed factor 19.3 compared state art With these newfound abilities, start challenge inherently safe compliant robot moves future manipulation towards cageless setup where humans work parallel.