New iterative approach to solving inverse flexible-link manipulator kinematics

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

    研究成果: Chapter

    1 被引用数 (Scopus)

    抄録

    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.

    本文言語English
    ホスト出版物のタイトルProceedings of the IEEE Conference on Decision and Control
    編集者 Anon
    ページ2355-3592
    ページ数1238
    出版ステータスPublished - 1996 12 1
    イベントProceedings of the 1996 35th IEEE Conference on Decision and Control. Part 3 (of 4) - Kobe, Jpn
    継続期間: 1996 12 111996 12 13

    出版物シリーズ

    名前Proceedings of the IEEE Conference on Decision and Control
    3
    ISSN(印刷版)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

    • 制御およびシステム工学
    • モデリングとシミュレーション
    • 制御と最適化

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