Hybrid numerical method for solving the inverse kinematics of a class of spatial flexible manipulators

Y. Q. Dai, A. A. Loukianov, M. Uchiyama

    Research output: Contribution to journalConference article

    11 Citations (Scopus)

    Abstract

    This paper proposes a hybrid numerical method (HNM) to solve the inverse kinematics of a class of spatial flexible manipulators modeled by mass/spring (mass-lumped stations and massless-spring fields) modeling method. HNM includes two parts: one is an implicit recursive numerical method (IRNM) which is used to find a better approximate solution to the inverse problem, the other is a global iterative learning compensator (GILC) that can further reduce the end-effector's position errors. In the meanwhile, stability of IRNM is also analyzed and a sufficient condition of convergence is obtained. Using this HNM, numerical simulation is conducted on a spatial flexible manipulator which possesses two flexible links and three rigid joints. Results are presented to show the effectiveness of the method.

    Original languageEnglish
    Pages (from-to)3449-3454
    Number of pages6
    JournalProceedings - IEEE International Conference on Robotics and Automation
    Volume4
    Publication statusPublished - 1997 Jan 1
    EventProceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 4 (of 4) - Albuquerque, NM, USA
    Duration: 1997 Apr 201997 Apr 25

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering
    • Artificial Intelligence
    • Electrical and Electronic Engineering

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