A quasi-static motion planner for flexible manipulators using the algebra of rotations

An algorithm for motion planning of flexible manipulators in quasi-static operations is proposed. This method is based on the algebra of rotations. A concise motion expression for flexible manipulators is developed to reflect the contributions of joint motions and link deflections to the motion of the end effector by three respective Jacobians. The proposed algorithm is composed of two major loops: the first for joint motions and the second for link deflections. The problems associated with the implementation of the algorithm are investigated, including convergency analysis, singularity analysis, link deflection analysis, etc. It is found that the algorithm is efficient and accurate for motion planning of flexible link manipulators