Modeling and Control of an Innovative Soft Robotic Ultrasound System

Abstract This paper aims to develop a framework for modeling and control of a novel ultrasound robotic system. In this study, our focus will be on modeling, controlling, and characterizing this system. To model this robot, we will employ the method of rigid finite elements to accurately capture the nonlinear large deformations of the soft robot. Using this technique, we will discretize the structure of the robot into a series of rigid elements connected by rotary springs. The stiffness of these springs can be determined experimentally by utilizing a force sensor. For position control, we will implement a PID controller and utilize an electromagnetic position sensor to gather data on the end-effector position. We will use serial communication and microcontroller to communicate between the robot, computer, and sensors. The PID gains will be adjusted experimentally through trial-and-error method and the performance of the controller will be tested in tracking of different trajectories.