Abstract
This paper deals with the trajectory tracking control of a 2-link flexible arm using tendon control mechanism. The purpose of this research is to establish modeling and control method for flexible arm. First, the equations of kinematic relationship and equations of motion are derived by using static deflection curve. From these equations, the relationship between tip trajectory and joint input torque is established. Second, a trajectory tracking controller is designed for real-time control of the flexible arm by using the resolved acceleration control method. Then the controller is carried out to track the designed straight line and circular trajectory. The simulation results show the effectiveness of the proposed method. To summarize these results, it was demonstrated that the tendon mechanism can be used to solve the tracking problem of the flexible arms and it also has a higher tracking precision than traditional method.
