Modeling and control of 2-link flexible arm using tendon mechanism

This paper deals with the position and trajectory tracking control of a 2-link flexible robot arms using tendon control mechanism. The purpose of the research is to establish modeling and control method by using the statically deflection curve. First, the modeling of the proposed mechanism is carried out by applying the Hamilton´s principle. Second, the optimal control law is derived. And then the trajectory tracking control is also carried out. For improving the control precision, the optimal and PI hybrid control method is carried out. To summarize the experimental results, it was demonstrated that the proposed method has a better control effect