Title :
An inverse kinematics scheme for a flexible arm in contact with a compliant surface
Author :
Siciliano, Bruno
Author_Institution :
Dipt. di Inf. e Sistemistica, Naples Univ., Italy
Abstract :
An inverse kinematic scheme for a multilink flexible arm whose tip is in contact with a compliant surface is proposed. For a given tip position and surface stiffness, the joint and deflection variables are found using a closed-loop scheme based on the arm Jacobian. This is suitably modified by two terms which account for the static deflections due to gravity and contact force, respectively. The scheme is tested in a case study on a planar two-link arm
Keywords :
Lyapunov methods; closed loop systems; compliance control; flexible manipulators; manipulator kinematics; position control; Lyapunov method; closed-loop systems; compliant surface; flexible arm; inverse kinematics; planar two-link arm; position control; Arm; Deformable models; Equations; Gravity; Jacobian matrices; Kinematics; Shape; Surface treatment; Testing; Transmission line matrix methods;
Conference_Titel :
Decision and Control, 1998. Proceedings of the 37th IEEE Conference on
Conference_Location :
Tampa, FL
Print_ISBN :
0-7803-4394-8
DOI :
10.1109/CDC.1998.761741
