Fractal and Fractional, Volume 7, Issue 1
2023 January - 98 articles
Cover Story: Controlling soft robots is a significant challenge due to the nonlinear elastic nature of the soft materials that conform their structure. This paper studies the identification and control problems of a novel two-degrees-of-freedom, tendon-actuated, soft robotic arm. A decoupled identification approach is presented; later, a fractional order control strategy is proposed and tested experimentally, in comparison with PI solutions. The simulation and experimental results show the goodness of the modeling and control approaches discussed. View this paper - Issues are regarded as officially published after their release is announced to the table of contents alert mailing list .
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