Compensability of end-effector position errors for flexible robot manipulators

Masaru Uchiyama, Zhao Hui Jiang

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    9 Citations (Scopus)


    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.

    Original languageEnglish
    Title of host publicationProceedings of the American Control Conference
    PublisherPubl by American Automatic Control Council
    Number of pages6
    ISBN (Print)0879425652, 9780879425654
    Publication statusPublished - 1991
    EventProceedings of the 1991 American Control Conference - Boston, MA, USA
    Duration: 1991 Jun 261991 Jun 28

    Publication series

    NameProceedings of the American Control Conference
    ISSN (Print)0743-1619


    OtherProceedings of the 1991 American Control Conference
    CityBoston, MA, USA

    ASJC Scopus subject areas

    • Electrical and Electronic Engineering


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