New compensation scheme for the inverse kinematics tasks of flexible robot arms

Mikhail Mikhailovich Svinin; M. Uchiyama

New compensation scheme for the inverse kinematics tasks of flexible robot arms

Mikhail Mikhailovich Svinin, M. Uchiyama

Faculty of Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

5 Citations (Scopus)

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.

Original language	English
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Publisher	Publ by IEEE
Pages	315-320
Number of pages	6
Edition	pt 1
ISBN (Print)	0818653329
Publication status	Published - Jan 1 1994
Event	Proceedings of the 1994 IEEE International Conference on Robotics and Automation - San Diego, CA, USA Duration: May 8 1994 → May 13 1994

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Number	pt 1
ISSN (Print)	1050-4729

Other

Other	Proceedings of the 1994 IEEE International Conference on Robotics and Automation
City	San Diego, CA, USA
Period	5/8/94 → 5/13/94

All Science Journal Classification (ASJC) codes

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Cite this

New compensation scheme for the inverse kinematics tasks of flexible robot arms. / Svinin, Mikhail Mikhailovich; Uchiyama, M.
Proceedings - IEEE International Conference on Robotics and Automation. pt 1. ed. Publ by IEEE, 1994. p. 315-320 (Proceedings - IEEE International Conference on Robotics and Automation; No. pt 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Svinin, MM & Uchiyama, M 1994, New compensation scheme for the inverse kinematics tasks of flexible robot arms. in Proceedings - IEEE International Conference on Robotics and Automation. pt 1 edn, Proceedings - IEEE International Conference on Robotics and Automation, no. pt 1, Publ by IEEE, pp. 315-320, Proceedings of the 1994 IEEE International Conference on Robotics and Automation, San Diego, CA, USA, 5/8/94.

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AB - 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.

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ER -

New compensation scheme for the inverse kinematics tasks of flexible robot arms

Abstract

Publication series

Other

All Science Journal Classification (ASJC) codes

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