Modeling of hyper-redundant manipulators dynamics and design of fuzzy controller for the system

Hyper-redundant manipulators having degrees of freedom much more than required, have many advantages and important capabilities. In this paper, modeling of the manipulator dynamics is done using a special curve called 'backbone' curve, modal method, Lagrangian mechanics and geometric transformation between variables space of backbone curve and manipulator joints. The dependency of the nonlinear and coupled terms of the dynamics model to joint variables makes some difficulties in classical methods to controller design. To overcome this problem, fuzzy controllers that have appropriate efficiency in complex and nonlinear systems are used. For demonstrating this matter, dynamics modeling of 10 degrees of freedom manipulator is done. Then a fuzzy controller is designed with attention to the dynamics behavior of the system. Manipulator behavior through various and noisy inputs are evaluated by simulation of the model including fuzzy controller. The results show very small error in manipulator motions and suitable condition of the designed fuzzy controller based on the dynamics model.