Discrete-time model based control of soft manipulator with FBG sensing
In this article we investigate the discrete-time model based control of a planar soft continuum manipulator with proprioceptive sensing provided by fiber Bragg gratings. A control algorithm is designed with a discrete-time energy shaping approach which is extended to account for control-related lag...
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| Format: | Conference or Workshop Item |
| Published: |
2023
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| Online Access: | https://repository.li.mahidol.ac.th/handle/123456789/89158 |
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| Institution: | Mahidol University |