Computational dynamic modeling and sequential PID controlling of a tendon-based manipulator with highly slender flexible arms

摘要

In this paper, the effect of a sequential PID controller for a long-thin flexible manipulator with low-weight arms will be investigated. The main idea and novelty is to control each link of slender manipulator and to lock other links at each stage of control by means of flexible tendons. The base of controlling is the force of flexible tendons which are motivated by means of motors located in the base. The idea of sequential PID controlling would be real by means of some mechanical lockers in each joint. On the other hand, the effect of disturbance fluctuation will be reduced in the presence of tendons controlling with various degrees of freedom when the sensors detect the flexible displacements. Dynamics of a flexible long chain will be obtained according to the computational flexible dynamic approaches and the floating frame of reference method. Then, the sequential controller will be designed to control flexible manipulator and to reduce disturbance fluctuations which can reduce accuracy of point to point tracking.