DocumentCode
2349917
Title
A stable sequential inverse kinematics of flexible robots: explicit and implicit expansion methods
Author
Cheong, Joono ; Youm, Youngil ; Chung, Wan Kynn
Author_Institution
Robotics Lab., Seoul Nat. Univ., South Korea
Volume
4
fYear
2003
fDate
27-31 Oct. 2003
Firstpage
3288
Abstract
This paper deals with the sequential inverse kinematics for the high speed tracking of flexible robots. As a continuation of the implicit expansion method in, the explicit version of the sequential inverse kinematics is presented which is easier to be understood conceptually. The accuracy and stability of the two algorithms are compared and proved. Numerical study verifies the validity of the theoretical results.
Keywords
Jacobian matrices; flexible manipulators; manipulator dynamics; manipulator kinematics; tracking; explicit expansion methods; flexible robots; high speed tracking; implicit expansion method; sequential inverse kinematics; stability; Aerodynamics; Aerospace engineering; Biomechatronics; Manipulator dynamics; Mechanical engineering; Robot kinematics; Robustness; Stability; Torque; Tracking;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN
0-7803-7860-1
Type
conf
DOI
10.1109/IROS.2003.1249663
Filename
1249663
Link To Document