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A hybrid numerical method for solving the inverse kinematics of a class of spatial flexible manipulators

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3 Author(s)
Dai, Y.Q. ; Dept. of Aeronaut. & Space Eng., Tohoku Univ., Sendai, Japan ; Loukianov, A.A. ; Uchiyama, M.

This paper proposes a hybrid numerical method (HNM) to solve the inverse kinematics of a class of spatial flexible manipulators modeled by mass/spring (mass-lumped stations and massless-spring fields) modeling method. The HNM includes two parts: one is an implicit recursive numerical method (IRNM) which is used to find a better approximate solution to the inverse problem, the other is a global iterative learning compensator that can further reduce the end-effector's position errors. The stability of IRNM is also analyzed and a sufficient condition of convergence is obtained. Using this HNM numerical simulation is conducted on a spatial flexible manipulator which possesses two flexible links and three rigid joints. Results are presented to show the effectiveness of the method

Published in:

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on  (Volume:4 )

Date of Conference:

20-25 Apr 1997