Contribution to Inverse Kinematics of Flexible Robot Arms

Mikhail M. Svinin, Masaru Uchiyama

Research output: Contribution to journalArticlepeer-review

13 Citations (Scopus)


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
Issue number4
Publication statusPublished - 1994 Feb 1
Externally publishedYes


  • 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)


Dive into the research topics of 'Contribution to Inverse Kinematics of Flexible Robot Arms'. Together they form a unique fingerprint.

Cite this