Precise control of soft robots remains challenging due to their highly compliant nature. Existing kinematic models may not enable accurate control performance as they do not account for actuation forces and dynamics. This paper tackles the problem of precise motion control for a soft robotic arm with longitudinal muscle actuators. We develop an integrated modeling and control framework that incorporates dynamics and actuation forces for improved accuracy. A key contribution is deriving and implementing a mathematical model of the soft muscle actuators using minimum norm optimization. Among, actuator saturation is addressed through a tension limiting function. Based on the whole model, we develop a dynamic surface controller with performance constraint to precisely control the soft arm. This controller makes soft robot subsequent interactions more secure. To assess the approach, numerical simulations and physical experiments are designed to verify the feasibility and rationality.

由于软机器人具有高度顺应性，其精确控制仍然具有挑战性。现有的运动学模型可能无法实现精确的控制性能，因为它们没有考虑致动力和动力学。本文解决了带有纵向肌肉执行器的软机器人臂的精确运动控制问题。我们开发了一个集成的建模和控制框架，该框架结合了动力学和驱动力，以提高准确性。一个关键贡献是使用最小范数优化推导和实现软肌肉执行器的数学模型。其中，执行器饱和是通过张力限制功能来解决的。基于整个模型，我们开发了一种具有性能约束的动态表面控制器来精确控制软臂。该控制器使得软体机器人后续的交互更加安全。为了评估该方法，设计了数值模拟和物理实验来验证其可行性和合理性。