Abstract:As the flexible manipulator is generally a super-redundant robotic arm, multi-channel brushless DC motors are required to drive each joint. Interface of digital signal processing (DSP) chips and single-chip microcomputer are limited and cannot simultaneously drive several brushless DC motors to move, which has limited processing speed, and use traditional PID algorithms cause low accuracy, it is unsuitable for high-precision flexible load. In this paper, a flexible manipulator using a field programmable gate array (FPGA) chip to control the joints is proposed. An improved neuron PID controller is designed to improve position tracking accuracy of each joint motor and overcome flexible load disturbances, and complete the linear interpolation of the planned position, multi-channel motor current acquisition, and multi-channel motor resolver position signal acquisition processing. The design scheme has been verified by a prototype, positioning accuracy of each joint motor better than 0.2 °, and the brushless DC motors of each joint have good synchronization and coordination.