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.

Cacace, S., Lai, A.C., Loreti, P. (2021). Optimal Reachability and Grasping for a Soft Manipulator. In Lecture Notes in Electrical Engineering (pp. 16-34). Springer Science and Business Media Deutschland GmbH [10.1007/978-3-030-63193-2_2].

Optimal Reachability and Grasping for a Soft Manipulator

Cacace S.;
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.
978-3-030-63192-5
Cacace, S., Lai, A.C., Loreti, P. (2021). Optimal Reachability and Grasping for a Soft Manipulator. In Lecture Notes in Electrical Engineering (pp. 16-34). Springer Science and Business Media Deutschland GmbH [10.1007/978-3-030-63193-2_2].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11590/378292
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