Optimization of Soft Actuator Control in a Continuum Robot
This study presents a quasi-static optimization framework for the pressure-based control of a multi-segment soft continuum manipulator. The proposed method circumvents traditional curvature and length-based modeling by directly identifying the quasi-static input–output relationship between actuator...
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MDPI AG
2025-07-01
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| Series: | Actuators |
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| Online Access: | https://www.mdpi.com/2076-0825/14/7/352 |
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| author | Oleksandr Sokolov Serhii Sokolov Angelina Iakovets Miroslav Malaga |
| author_facet | Oleksandr Sokolov Serhii Sokolov Angelina Iakovets Miroslav Malaga |
| author_sort | Oleksandr Sokolov |
| collection | DOAJ |
| description | This study presents a quasi-static optimization framework for the pressure-based control of a multi-segment soft continuum manipulator. The proposed method circumvents traditional curvature and length-based modeling by directly identifying the quasi-static input–output relationship between actuator pressures and the 6-DoF end-effector pose. Experimental data were collected using a high-frequency electromagnetic tracking system under monotonic pressurization to minimize hysteresis effects. Transfer functions were identified for each coordinate–actuator pair using the System Identification Toolbox in MATLAB, and optimal actuator pressures were computed analytically by solving a constrained quadratic program via a manual active-set method. The resulting control strategy achieved sub-millimeter positioning error while minimizing the number of actuators engaged. The approach is computationally efficient, sensor-minimal, and fully implementable in open-loop settings. Despite certain limitations due to sensor nonlinearity and actuator hysteresis, the method provides a robust foundation for feedforward control and the real-time deployment of soft robots in quasi-static tasks. |
| format | Article |
| id | doaj-art-a680eabd636f4bc5bcd6c56f1b4f6625 |
| institution | Matheson Library |
| issn | 2076-0825 |
| language | English |
| publishDate | 2025-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj-art-a680eabd636f4bc5bcd6c56f1b4f66252025-07-25T13:08:51ZengMDPI AGActuators2076-08252025-07-0114735210.3390/act14070352Optimization of Soft Actuator Control in a Continuum RobotOleksandr Sokolov0Serhii Sokolov1Angelina Iakovets2Miroslav Malaga3Faculty of Manufacturing Technologies with the Seat in Prešov, Technical University of Košice, Bayerova 1, 080 01 Prešov, SlovakiaDepartment of Computerized Control Systems, Sumy State University, Kharkivska 116, 40007 Sumy, UkraineFaculty of Manufacturing Technologies with the Seat in Prešov, Technical University of Košice, Bayerova 1, 080 01 Prešov, SlovakiaDepartment of Industrial Engineering and Management, Faculty of Mechanical Engineering, University of West Bohemia, 301 00 Plzeň, Czech RepublicThis study presents a quasi-static optimization framework for the pressure-based control of a multi-segment soft continuum manipulator. The proposed method circumvents traditional curvature and length-based modeling by directly identifying the quasi-static input–output relationship between actuator pressures and the 6-DoF end-effector pose. Experimental data were collected using a high-frequency electromagnetic tracking system under monotonic pressurization to minimize hysteresis effects. Transfer functions were identified for each coordinate–actuator pair using the System Identification Toolbox in MATLAB, and optimal actuator pressures were computed analytically by solving a constrained quadratic program via a manual active-set method. The resulting control strategy achieved sub-millimeter positioning error while minimizing the number of actuators engaged. The approach is computationally efficient, sensor-minimal, and fully implementable in open-loop settings. Despite certain limitations due to sensor nonlinearity and actuator hysteresis, the method provides a robust foundation for feedforward control and the real-time deployment of soft robots in quasi-static tasks.https://www.mdpi.com/2076-0825/14/7/352system optimizationcontrol strategysystem identificationtransfer functionsoft actuators |
| spellingShingle | Oleksandr Sokolov Serhii Sokolov Angelina Iakovets Miroslav Malaga Optimization of Soft Actuator Control in a Continuum Robot Actuators system optimization control strategy system identification transfer function soft actuators |
| title | Optimization of Soft Actuator Control in a Continuum Robot |
| title_full | Optimization of Soft Actuator Control in a Continuum Robot |
| title_fullStr | Optimization of Soft Actuator Control in a Continuum Robot |
| title_full_unstemmed | Optimization of Soft Actuator Control in a Continuum Robot |
| title_short | Optimization of Soft Actuator Control in a Continuum Robot |
| title_sort | optimization of soft actuator control in a continuum robot |
| topic | system optimization control strategy system identification transfer function soft actuators |
| url | https://www.mdpi.com/2076-0825/14/7/352 |
| work_keys_str_mv | AT oleksandrsokolov optimizationofsoftactuatorcontrolinacontinuumrobot AT serhiisokolov optimizationofsoftactuatorcontrolinacontinuumrobot AT angelinaiakovets optimizationofsoftactuatorcontrolinacontinuumrobot AT miroslavmalaga optimizationofsoftactuatorcontrolinacontinuumrobot |