Controller Design of a Wire-Driven Flexible Robot

Abstract

Robot tasks and functions are advanced by IoT, remote working, and new human lifestyle requirements in tedious or accurate occupations such as surgery, product inspections, or agriculture harvesting. Numerous robots are technologically advanced by scientists for diverse tasks. Flexible robots are developed based on stated applications since they can adjust their geometry to the working situations. The present study introduces a wire-driven flexible robot stimulated by animal trunks. It can make a motion in planar and space based on the construction of that. Initially, a kinematic model was developed to predict end-effector trajectory, and then a dynamic model was established to compute the required tension of tendon wires based on bending beam theory. Models are simulated by MATLAB/SIMULINK Software and implemented by a generic controller. Various input functions are applied to the model, and outputs show good stability and accuracy. Based on these results, in future work, a WDFR will be developed and controlled by the current presented PID controller.