A new compensation scheme for the inverse kinematics tasks of flexible robot arms

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.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>