TITLE:
Modeling and Control Analysis of Rope-Driven Continuous Robotic Arm Dynamics
AUTHORS:
Guang Hu, Weicai Quan, Xiang Huang, Yucheng Zhou, Jianhao Chai, Yike Guo, Pengcheng Luo
KEYWORDS:
Rope-Driven Manipulator Arm, Lagrangian Dynamics, PID, Fuzzy Control
JOURNAL NAME:
Open Journal of Applied Sciences,
Vol.15 No.5,
May
19,
2025
ABSTRACT: In this paper, a rope-driven continuous robotic arm is taken as the research object, and its dynamic modeling and motion control methods are studied. Geometric analysis and coordinate transformation method are used to establish the kinematic model of the robot arm, and the Lagrangian method is used to construct the dynamics equation of the robot arm. The corresponding control system is designed based on the rope-driven robotic arm model, and the PID algorithm is used to realize the motion control of the robotic arm, and the simulation model is constructed using Simulink. The analysis shows that the actual joint trajectories of the rope-driven robotic arm under PID control can track the desired trajectories better, but due to the inherent strong coupling characteristics of the rope-driven robotic arm, the tracking errors of some joints show a tendency to accumulate over time. A fuzzy PID control algorithm is further proposed and simulation experiments are carried out, and the results show that after the introduction of the fuzzy control strategy, the joint angle tracking error of the rope-driven robotic arm is stabilized within the range of [−0.0014 rad, 0.0014 rad], which effectively solves the problem of error accumulation over time in PID control. And the position control error of the end of the robotic arm is stabilized in the range of [−0.6 mm, 0.8 mm], which verifies the correctness of the established dynamics model and the effective control of fuzzy PID control on the rope-driven continuous robotic arm.