An inverse kinematic scheme for a multilink flexible arm whose tip is in contact with a compliant surface is proposed in this work. 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.
An inverse kinematics scheme for a flexible arm in contact with a compliant surface / Siciliano, Bruno. - STAMPA. - 4:(1998), pp. 3617-3622. ( IEEE Conference on Decision and Control December 1998) [10.1109/CDC.1998.761741].
An inverse kinematics scheme for a flexible arm in contact with a compliant surface
SICILIANO, BRUNO
1998
Abstract
An inverse kinematic scheme for a multilink flexible arm whose tip is in contact with a compliant surface is proposed in this work. 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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
