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.
|ジャーナル||JSME International Journal, Series C: Dynamics, Control, Robotics, Design and Manufacturing|
|出版ステータス||Published - 1994 2 1|
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