We investigate optimal reachability and grasping problems for a planar soft manipulator, from both a theoretical and numerical point of view. The underlying control model describes the evolution of the symmetry axis of the device, which is subject to inextensibility and curvature constraints, a bending moment and a curvature control. Optimal control strategies are characterized with tools coming from the optimal control theory of PDEs. We run some numerical tests in order to validate the model and to synthetize optimal control strategies.
Optimal reachability and grasping for a soft manipulator / Cacace, S.; Lai, A. C.; Loreti, P.. - 720:(2021), pp. 16-34. (Intervento presentato al convegno 16th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2019 tenutosi a cze) [10.1007/978-3-030-63193-2_2].
Optimal reachability and grasping for a soft manipulator
Cacace S.;Lai A. C.
;Loreti P.
2021
Abstract
We investigate optimal reachability and grasping problems for a planar soft manipulator, from both a theoretical and numerical point of view. The underlying control model describes the evolution of the symmetry axis of the device, which is subject to inextensibility and curvature constraints, a bending moment and a curvature control. Optimal control strategies are characterized with tools coming from the optimal control theory of PDEs. We run some numerical tests in order to validate the model and to synthetize optimal control strategies.| File | Dimensione | Formato | |
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