论文标题
最佳可及性和抓握软件
Optimal reachability and grasping for a soft manipulator
论文作者
论文摘要
我们从理论和数值的角度研究了平面软操作器的最佳可及性和抓住问题。基础控制模型描述了设备的对称轴的演变，该轴受到不可扩展性和曲率约束，弯矩和曲率控制的影响。最佳控制策略的特征是来自PDE的最佳控制理论的工具。我们运行一些数值测试，以验证模型并合成最佳控制策略。
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.
