K.N. Toosi University of Technology International Journal of Robotics, Theory and Applications 2008-7144 6 1 2020 04 01 Experimental Identification and Hybrid PID-Fuzzy Position Control of Continuum Robotic Arms 53 63 91683 EN Aida Parvaresh Center of Excellence in Robotics and Control, Advanced Robotics &amp;amp; Automated Systems (ARAS) Laboratory Dept of Mechanical Engineering, K. N. Toosi University of Technology, Tehran, Iran S. Ali A. Moosavian Department of Mechanical Engineering, K. N. Toosi University of Technology, Tehran, Iran 0000-0002-9117-7615 Journal Article 2019 07 12 Continuum robotic arms that are inspired from nature, have many<br />advantages compared to traditional robots, which motivate researchers in<br />this field. Dynamic modeling and controlling these robots are challenging<br />subjects due to complicated nonlinearities and considerable uncertainties<br />existing in these structures. In this paper, first a dynamic three-dimensional<br />model of the continuum robotic arm is developed as a black-box model<br />through system identification method. The validity of the obtained model is<br />confirmed by the experimental data. Then, by using the obtained model, a<br />hybrid PID-fuzzy controller, which is considered as a model-free controller<br />and does not require the exact model of the system is employed for<br />controlling the position of the end-effector. Finally, obtained results and the<br />performance of the controller in reaching to different positions of the<br />workspace, either trained or not, is discussed. https://ijr.kntu.ac.ir/article_91683_d3f98819e0bacc5e1262cf2342360d7b.pdf