Adaptive variable impedance control for a modular soft robot manipulator in configuration space

Compliance is a strong requirement for human–robot interactions. Soft-robots provide an opportunity to cover the lack of compliance in conventional actuation mechanisms, however, control them very challenging given their intrinsic complex motions. Therefore, soft-robots require new approaches e.g., modeling, control, dynamics, and planning. One strategies that ensures impedance control. During task execution presence coupling force position constraints, dynamic behavior increases flexibility This imposes some additional constraints on stability system. To tackle them, we propose variable configuration space modular soft robot manipulator (MSRM) model uncertainties external forces. The loads are estimated using momentum-based approach order reduce calculation complexity, adaptive back-stepping sliding mode (ABSM) controller designed guard against uncertainties. Stability analysis performed Lyapunov theory which guarantees not only exponential each state under law, but also global closed-loop system performance benchmarked other methods, such as (SM) inverse dynamics PD controllers. results show effectiveness proposed stabilizing error diminishing impact load compared SM