New compensation scheme for the inverse kinematics tasks of flexible robot arms

M. M. Svinin, Masaru Uchiyama

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

    4 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. Based upon kinematic and static relationships, 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 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
    Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
    PublisherPubl by IEEE
    Pages315-320
    Number of pages6
    Editionpt 1
    ISBN (Print)0818653329
    Publication statusPublished - 1994 Jan 1
    EventProceedings of the 1994 IEEE International Conference on Robotics and Automation - San Diego, CA, USA
    Duration: 1994 May 81994 May 13

    Publication series

    NameProceedings - IEEE International Conference on Robotics and Automation
    Numberpt 1
    ISSN (Print)1050-4729

    Other

    OtherProceedings of the 1994 IEEE International Conference on Robotics and Automation
    CitySan Diego, CA, USA
    Period94/5/894/5/13

    ASJC Scopus subject areas

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

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