Dynamic motions are a key feature of robotic arms, enabling them to perform tasks quickly and efficiently. Soft continuum manipulators do not currently consider dynamic parameters when operating in task space. This shortcoming makes existing soft robots slow and limits their ability to deal with external forces, especially during object manipulation. We address this issue by using dynamic operational space control. Our control approach takes into account the dynamic parameters of the 3D continuum arm and introduces new models that enable multi-segment soft manipulators to operate smoothly in task space. Advanced control methods, previously afforded only to rigid robots, are now adapted to soft robots; for example, potential field avoidance was previously only shown for rigid robots and is now extended to soft robots. Using our approach, a soft manipulator can now achieve a variety of tasks that were previously not possible: we evaluate the manipulator's performance in closed-loop controlled experiments such as pick-and-place, obstacle avoidance, throwing objects using an attached soft gripper, and deliberately applying forces to a surface by drawing with a grasped piece of chalk. Besides the newly enabled skills, our approach improves tracking accuracy by 59% and increases speed by a factor of 19.3 compared to state of the art for task space control. With these newfound abilities, soft robots can start to challenge rigid robots in the field of manipulation. Our inherently safe and compliant soft robot moves the future of robotic manipulation towards a cageless setup where humans and robots work in parallel.

翻译：动态运动是机器人臂的一个关键特征, 使其能够快速和高效地执行任务。 软连续操纵器目前并不考虑在任务空间操作时的动态参数。 这一缺陷使得现有的软机器人慢下来, 并限制了它们与外部力量打交道的能力, 特别是在物体操纵期间。 我们通过动态操作空间控制来解决这个问题。 我们的控制方法考虑到3D连续臂的动态参数, 并引入新的模型, 使多组软操纵器能够在任务空间顺利运行。 原先只提供给僵硬机器人的高级控制方法现在已经适应软机器人; 例如, 潜在的避免场方法以前只显示为硬机器人, 现在扩大到软机器人。 使用我们的方法, 软操纵器现在可以实现以前不可能完成的多种任务: 我们评估操纵器在闭环控制实验中的性能表现, 如选址、 避免障碍、 将软软操纵器丢弃物体在任务空间空间空间上, 以及刻意将软性力量应用到表面, 粉笔。 除了新获得的技能之外, 我们的方法提高了对硬机器人的精确度的精确度, 并且现在扩大到59% 软的机械操作器操作速度 。, 我们的机械操作在新的机器人操作上, 开始在新的机械操作上, 开始一个新的机械操作中,, 开始一个新的操作过程 开始, 以新的 。