End Positioning Control of Flexible Manipulator Based on Inverse Kinematics

Abstract

Aiming at the problem that the end of flexible manipulator with deformation characteristics is difficult to be controlled or its positioning accuracy is low in the process of movement, the design and motion mechanism analyses of a prototype of wire-driven flexible manipulator are achieved to derive the inverse kinematics relationship between the shape space, end position space and driving space. Then, a control scheme of flexible manipulator end positioning based on inverse kinematics model is proposed. Finally, the simulation model of flexible manipulator was built with the inverse kinematics model applied in CoppeliaSim, and the simulation analyses of end positioning for flexible manipulator verify the effectiveness of the inverse kinematics model and the reasonability of control scheme of flexible manipulator end positioning.