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

fYear

1994

fDate

8-13 May 1994

Firstpage

315

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Conference_Location

San Diego, CA

Print_ISBN

0-8186-5330-2

Type

conf

DOI

10.1109/ROBOT.1994.351276

Filename

351276