Monitoring and Control of Position and Attitude of Flexible Manipulator with Three Degrees of Freedom

Abstract

Aiming at the problem that the kinematics modeling and control of flexible manipulator are difficult and the research in the field of sensor feedback is insufficient, we design and manufacture a flexible manipulator based on three pneumatic muscles. Base on the flexible manipulator and the kinematic model of that, an experimental platform was built which can be used to monitor and control the position and attitude of flexible manipulators. The results of open-loop experiments show that the position and attitude of the flexible manipulator is consistent with the kinematics model, which verifies the validity of the kinematics model and the feasibility of the sensing system. The results of PID closed-loop control experiments show that the flexible manipulator has controllability.