A hybrid numerical method for solving the inverse kinematics of a class of spatial flexible manipulators
نویسندگان
چکیده
This paper proposes a hybrid numerical method (HNM) to solve the inverse kinematics of a class of spatial flexible manipulators modeled b y mass/spring (mass-lumped stations and masslessspring fields) modeling method. HNM includes two parts: one is an implicit recursive numerical method (IRNM) which is used to f ind a better approximate solution to the inverse problem, the other is a global iterative learning compensator (GILC) that can further reduce the end-effector’s position errors. I n the meanwhile, stability of I R N M is also analyzed and a suficient 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.
منابع مشابه
GMDH Type Neural Networks and Their Application to the Identification of the Inverse Kinematics Equations of Robotic Manipulators (RESEARCH NOTE)
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