A new iterative approach to solving inverse flexible-link manipulator kinematics

Author

Dai, Y.Q. ; Usui, K. ; Uchiyama, M.

Author_Institution

Fac. of Eng., Tohoku Univ., Sendai, Japan

Volume

3

fYear

1996

fDate

11-13 Dec 1996

Firstpage

2493

Abstract

A new iterative approach to solving the inverse flexible-link manipulator kinematics is presented in this paper. Based on adopting the iterative learning idea and Newton-Raphson gradient method, the iterative law is constructed. The approach can dynamically and precisely compensate for path errors caused by link elastic deflections. Numerical computation is done on a planar two-link revolute type flexible manipulator modeled by mass/spring method. The results show the effectiveness of this approach

Keywords

Newton-Raphson method; error compensation; flexible structures; inverse problems; manipulator kinematics; Newton-Raphson gradient method; compensation; inverse flexible-link manipulator kinematics; iterative approach; iterative learning; link elastic deflections; mass/spring model; path errors; planar two-link revolute type flexible manipulator; Aerodynamics; Equations; Gradient methods; Hydrogen; Iterative algorithms; Iterative methods; Jacobian matrices; Kinematics; Manipulator dynamics; Transmission line matrix methods;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1996., Proceedings of the 35th IEEE Conference on

Conference_Location

Kobe

ISSN

0191-2216

Print_ISBN

0-7803-3590-2

Type

conf

DOI

10.1109/CDC.1996.573466

Filename

573466