New iterative approach to solving inverse flexible-link manipulator kinematics

Y. Q. Dai, K. Usui, M. Uchiyama

    Research output: Chapter in Book/Report/Conference proceedingChapter

    1 Citation (Scopus)

    Abstract

    A new iterative approach to solving the inverse flexible-link manipulator kinematics is presented in this paper. Based on adopting the iterative learning idea and Newton-Raphson gradient method, the iterative law is constructed. The approach can dynamically and precisely compensate for path errors caused by link elastic deflections. Numerical computation is done on a planar two-link revolute type flexible manipulator modeled by mass/spring method. The results show the effectiveness of this approach.

    Original languageEnglish
    Title of host publicationProceedings of the IEEE Conference on Decision and Control
    Editors Anon
    Pages2355-3592
    Number of pages1238
    Publication statusPublished - 1996 Dec 1
    EventProceedings of the 1996 35th IEEE Conference on Decision and Control. Part 3 (of 4) - Kobe, Jpn
    Duration: 1996 Dec 111996 Dec 13

    Publication series

    NameProceedings of the IEEE Conference on Decision and Control
    Volume3
    ISSN (Print)0191-2216

    Other

    OtherProceedings of the 1996 35th IEEE Conference on Decision and Control. Part 3 (of 4)
    CityKobe, Jpn
    Period96/12/1196/12/13

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Modelling and Simulation
    • Control and Optimization

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  • Cite this

    Dai, Y. Q., Usui, K., & Uchiyama, M. (1996). New iterative approach to solving inverse flexible-link manipulator kinematics. In Anon (Ed.), Proceedings of the IEEE Conference on Decision and Control (pp. 2355-3592). (Proceedings of the IEEE Conference on Decision and Control; Vol. 3).