A Model-Based Cascaded Control Concept for the Bionic Motion Robot

The applications, modeling and control of continuum manipulators have been strongly developing over the past years. In this contribution, we present a model-based control concept for the Bionic Motion Robot – a quasi-continuum robot with six actuator degrees of freedom driven by compressed air. The model is based on a constant curvature approach for the mechanics also being used for the feed-back control, and a dynamic representation of the bellows pressures. The control law itself consists of a cascaded concept, where an underlying pressure control compensates for the compressibility of the driving fluid. With measurements, the working principle of the proposed methods are illustrated and the effectiveness of the control is demonstrated.