Study on Terminal Flexibility Control Strategy for the Rope Driven Serpentine Robotic Arm

Aiming at the control of the contact force at the end of the rope driven serpentine robotic arm during operation, an control strategy is proposed, which can ensure the position control accuracy and contact force control accuracy of the end of the robotic arm meanwhile. Firstly, the kinematics model of the robotic arm with 13 degrees of freedom and 7 joint points is established, and the mapping relationship between the rope displacement and the joint position is obtained through kinematics solution. Secondly, the gravity compensation of the end of the robotic arm is analyzed by force sensor, and an admittance control system is designed to ensure the position of the end of the serpentine robotic arm and the control accuracy of the contact force. Finally, the co-simulation platform of Simulink and Recurdyn is set up. The simulation results show that under the condition of maintaining the target contact force of 100N, the contact force error does not exceed 4N, and the position error does not exceed 0. 3mm. The control strategy has good control accuracy for the position control and contact force control of the end of the serpentine robotic arm.