Title :
A new compensation scheme for the inverse kinematics tasks of flexible robot arms
Author :
Svinin, M.M. ; Uchiyama, M.
Author_Institution :
Dept. of Aeronaut. & Space Eng., Tohoku Univ., Sendai, Japan
Abstract :
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. Based upon kinematic and static relationships, 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 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
Keywords :
compensation; convergence of numerical methods; iterative methods; kinematics; manipulators; convergence conditions; flexible manipulators; flexible robot arms; implicit iterative scheme; inverse kinematics tasks; relative elastic deflections; step-by-step compensation; tip deflections; Aerodynamics; Convergence; Finite element methods; Grippers; Iterative methods; Jacobian matrices; Kinematics; Manipulator dynamics; Orbital robotics; Robots;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.351276
