A Fast and Reliable Pick-and-Place Application with a Spherical Soft Robotic Arm: Online appendix

Abstract

This document is the online appendix to the paper "A Fast and Reliable Pick-and-Place Application with a Spherical Soft Robotic Arm" submitted to the IEEE International Conference on Soft Robotics 2021. We present a detailed mathematical analysis of a control allocation mapping of an antagonistically actuated soft robotic arm. The control allocation simplifies the modeling and control as it allows us to consider the dynamics as decoupled. We discuss its properties and present further validation experiments.