Inverse Jacobian solution for the control of multi-link flexible manipulators

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

In this paper, an inverse Jacobian solution is presented for a multi-link flexible manipulator. This solution yields quick endpoint control of flexible manipulators that are modeled as a series of finite elements. The model is partitioned into links connected by passive (nonactuated) and active (actuated) joints. This partitioned structure is maintained in the development of the kinematics and dynamics of the multi-link flexible manipulator. After some rearrangement of the matrix blocks, and application of the matrix inversion lemma, and an application of a fast recursive inversion of mass and Jacobian matrices developed for rigid link manipulators, the final inverse Jacobian solution is obtained.

Original languageEnglish (US)
Title of host publicationAmerican Control Conference
PublisherPubl by IEEE
Pages1814-1815
Number of pages2
ISBN (Print)0780308611, 9780780308619
DOIs
StatePublished - 1993
Externally publishedYes
EventProceedings of the 1993 American Control Conference Part 3 (of 3) - San Francisco, CA, USA
Duration: Jun 2 1993Jun 4 1993

Publication series

NameAmerican Control Conference

Other

OtherProceedings of the 1993 American Control Conference Part 3 (of 3)
CitySan Francisco, CA, USA
Period6/2/936/4/93

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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