Contribution to Inverse Kinematics of Flexible Robot Arms

Mikhail M. Svinin, Masaru Uchiyama

    Research output: Contribution to journalArticlepeer-review

    13 Citations (Scopus)

    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 languageEnglish
    Pages (from-to)755-764
    Number of pages10
    JournalJSME International Journal, Series C: Dynamics, Control, Robotics, Design and Manufacturing
    Volume37
    Issue number4
    DOIs
    Publication statusPublished - 1994 Feb 1

    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)

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