Trajectory tracking of spatial flexible link manipulators using inverse kinematics solution and vibration suppression

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

    Research output: Contribution to conferencePaper

    2 Citations (Scopus)

    Abstract

    In this paper a new method for solving the inverse kinematics problem of elastic link manipulators is presented. The inverse kinematics problem is considered as a differential-algebraic problem with differential equations of motion and kinematic constraints to be satisfied. A method to integrate this system of equations by partitioning the generalized coordinates and using Newton-Raphson iterations at each integration step is proposed. The stability of the method is analyzed. To improve the overall trajectory tracking performance, use of vibration suppression control at the end of motion is suggested. Experimental results with a spatial flexible link manipulator demonstrate a reasonable performance.

    Original languageEnglish
    Pages221-226
    Number of pages6
    Publication statusPublished - 1997 Jan 1
    EventProceedings of the 1997 8th International Conference on Advanced Robotics, ICAR'97 - Monterey, CA, USA
    Duration: 1997 Jul 71997 Jul 9

    Other

    OtherProceedings of the 1997 8th International Conference on Advanced Robotics, ICAR'97
    CityMonterey, CA, USA
    Period97/7/797/7/9

    ASJC Scopus subject areas

    • Engineering(all)

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