TY - GEN
T1 - Compensability of end-effector position errors for flexible robot manipulators
AU - Uchiyama, Masaru
AU - Jiang, Zhao Hui
PY - 1991
Y1 - 1991
N2 - A kinematic analysis of the end-effector position errors of flexible robot manipulators is presented. The analysis gives kinematic fundamentals for their trajectory control. The end-effector position errors due to the link flexibility cannot be controlled directly but can be compensated for only indirectly by the joint angles or displacements. The compensation, however, is very difficult if the manipulator arm takes on certain configurations. The analysis of these situations leads to a new concept of compensability that tells if the compensation is possible or not. A theorem and lemmas are derived to clarify the necessary and sufficient conditions of the compensability. A measure of the compensability is presented to evaluate the ease of compensation. It is shown that the manipulability of a flexible robot manipulator is worse than that of a rigid manipulator because of link deflections.
AB - A kinematic analysis of the end-effector position errors of flexible robot manipulators is presented. The analysis gives kinematic fundamentals for their trajectory control. The end-effector position errors due to the link flexibility cannot be controlled directly but can be compensated for only indirectly by the joint angles or displacements. The compensation, however, is very difficult if the manipulator arm takes on certain configurations. The analysis of these situations leads to a new concept of compensability that tells if the compensation is possible or not. A theorem and lemmas are derived to clarify the necessary and sufficient conditions of the compensability. A measure of the compensability is presented to evaluate the ease of compensation. It is shown that the manipulability of a flexible robot manipulator is worse than that of a rigid manipulator because of link deflections.
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U2 - 10.23919/acc.1991.4791712
DO - 10.23919/acc.1991.4791712
M3 - Conference contribution
AN - SCOPUS:0026390991
SN - 0879425652
SN - 9780879425654
T3 - Proceedings of the American Control Conference
SP - 1873
EP - 1878
BT - Proceedings of the American Control Conference
PB - Publ by American Automatic Control Council
T2 - Proceedings of the 1991 American Control Conference
Y2 - 26 June 1991 through 28 June 1991
ER -