Referenced Items are not available for this document.
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
- Page(s):
- 3449 - 3454 vol.4
- Meeting Date :
- 20 Apr 1997-25 Apr 1997
- Print ISBN:
- 0-7803-3612-7
- INSPEC Accession Number:
- 5691344
- Conference Location :
- Albuquerque, NM
- Digital Object Identifier :
- 10.1109/ROBOT.1997.606869
- Product Type:
- Conference Publications
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