A hybrid numerical method for solving the inverse kinematics of a class of spatial flexible manipulators

Author

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

Author_Institution

Dept. of Aeronaut. & Space Eng., Tohoku Univ., Sendai, Japan

Volume

4

fYear

1997

fDate

20-25 Apr 1997

Firstpage

3449

Abstract

This paper proposes a hybrid numerical method (HNM) to solve the inverse kinematics of a class of spatial flexible manipulators modeled by mass/spring (mass-lumped stations and massless-spring fields) modeling method. The HNM includes two parts: one is an implicit recursive numerical method (IRNM) which is used to find a better approximate solution to the inverse problem, the other is a global iterative learning compensator that can further reduce the end-effector´s position errors. The stability of IRNM is also analyzed and a sufficient condition of convergence is obtained. Using this HNM numerical simulation is conducted on a spatial flexible manipulator which possesses two flexible links and three rigid joints. Results are presented to show the effectiveness of the method

Keywords

flexible structures; inverse problems; iterative methods; manipulator kinematics; numerical stability; convergence; hybrid numerical method; implicit recursive numerical method; inverse kinematics; inverse problem; iterative learning compensator; mass/spring model; spatial flexible manipulators; stability; sufficient condition; Aerodynamics; Inverse problems; Iterative methods; Kinematics; Manipulator dynamics; Numerical simulation; Space stations; Springs; Stability analysis; Tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on

Conference_Location

Albuquerque, NM

Print_ISBN

0-7803-3612-7

Type

conf

DOI

10.1109/ROBOT.1997.606869

Filename

606869