An inverse kinematics scheme for a flexible arm in contact with a compliant surface

An inverse kinematic scheme for a multilink flexible arm whose tip is in contact with a compliant surface is proposed. For a given tip position and surface stiffness, the joint and deflection variables are found using a closed-loop scheme based on the arm Jacobian. This is suitably modified by two terms which account for the static deflections due to gravity and contact force, respectively. The scheme is tested in a case study on a planar two-link arm.