SoftArmControl: Data and results of the identification and control of a soft robotic arm

Different csv files are available that include information about the pose (yaw and pitch angles) of the soft arm while varying the position of its motors. Three datasets are specifically available: experimental data used for the identification of the soft arm model; experimental data from the use of different controllers for the soft arm to reach a pose; and experimental data from the use of different controllers for the soft arm to follow a trajectory.</br>
Apart from the datasets, different codes have been also generated in Matlab and C++ to manage the datasets and obtain the results shown in the associated paper, mainly the following results: soft arm model identification results; control results when using a PI controller for the robot to reach a pose and follow a trajectory; control results when using a fractional-order controller for the robot to reach a pose and follow a trajectory.