Abstract
An inverse kinematics problem of flexible manipulators is considered. The problem is of importance for compensation of tip deflections when the manipulators perform quasi-static operations. Basic equations based on both kinematic and static relationships are derived and explicit expressions of the mathematical model are presented. Based upon this model, a definition of the inverse kinematic task of flexible manipulators is formulated. Specific features of the task are considered, and a conventional approach applicable for resolving the task is analyzed. To avoid the disadvantages of the conventional approach, an implicit iterative scheme based upon step-by-step compensation for the relative elastic deflections is proposed. Corresponding convergence conditions of the scheme are derived, and applicability of the scheme is verified through simulation.
| Original language | English |
|---|---|
| Pages (from-to) | 755-764 |
| Number of pages | 10 |
| Journal | JSME International Journal, Series C: Dynamics, Control, Robotics, Design and Manufacturing |
| Volume | 37 |
| Issue number | 4 |
| DOIs | |
| Publication status | Published - 1994 Feb 1 |
| Externally published | Yes |
Keywords
- Cmputational Scheme
- Compensation Control
- Convergence Conditions
- Elastic Displacements
- Flexible Manipulator
- Inverse Kinematics
- Quasi-Static Operations
- Robot
- Simulation
- Tip Deflections
ASJC Scopus subject areas
- Engineering(all)