Dynamic modeling and control of a tensegrity manipulator mimicking a bird neck

Abstract

This paper studies a tensegrity manipulator mimicking a bird neck. This manipulator is built upon assembling several X-shape one-dof tensegrity mechanisms in series. A methodology is proposed to derive the dynamic model using Lagrange’s equations. The dynamic model is used to design a dynamic control law. This control law is applied to a backward-and-forward motion between an S-shape rest equilibrium configuration and a straight configuration of the neck manipulator. Simulation results show a much better tracking as compared with a classical PD control.