Contribution to Inverse Kinematics of Flexible Robot Arms

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概要

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• 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.

• 一般社団法人日本機械学会の論文
• 1994-12-15

著者

• Svinin M.

  Aeronautics And Space Engineering Department Tohoku University :on Leave From Automation Technical P

• Uchiyama Masaru

  Aeronautics and Space Engineering Department, Tohoku University

• Uchiyama Masaru

  Aeronautics And Space Engineering Department Tohoku University

関連論文

• Contribution to Inverse Kinematics of Flexible Robot Arms

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