Computer Engineering Commons^™

Designs And Practical Control Methods For Soft Parallel Robots, Benjamin T. Buzzo

Graduate Theses, Dissertations, and Problem Reports

The use of soft robotics is becoming an increasingly researched topic, since they can provide more flexibility in movements and increase safety when working with humans. However, they are more susceptible to modeling and manufacturing errors in the design.

The objective of this thesis is two-fold, the first objective is to determine the benefits and limitations of using calibration tables that rely on the PWM signals instead of modeling as a control method. If calibration tables are not adequate to achieve a high level of precision. The second objective is to determine if using a tethered mobile robot in unison …