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

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

1 Citation (Scopus)

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
Editors Anon
Place of PublicationPiscataway, NJ, United States
PublisherPubl by IEEE
Pages1814-1815
Number of pages2
ISBN (Print)0780308611
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

Other

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

Fingerprint

Flexible manipulators
Jacobian matrices
Manipulators
Kinematics

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Meldrum, D., & Wiktor, P. (1993). Inverse Jacobian solution for the control of multi-link flexible manipulators. In Anon (Ed.), American Control Conference (pp. 1814-1815). Piscataway, NJ, United States: Publ by IEEE.

Inverse Jacobian solution for the control of multi-link flexible manipulators. / Meldrum, Deirdre; Wiktor, Peter.

American Control Conference. ed. / Anon. Piscataway, NJ, United States : Publ by IEEE, 1993. p. 1814-1815.

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

Meldrum, D & Wiktor, P 1993, Inverse Jacobian solution for the control of multi-link flexible manipulators. in Anon (ed.), American Control Conference. Publ by IEEE, Piscataway, NJ, United States, pp. 1814-1815, Proceedings of the 1993 American Control Conference Part 3 (of 3), San Francisco, CA, USA, 6/2/93.
Meldrum D, Wiktor P. Inverse Jacobian solution for the control of multi-link flexible manipulators. In Anon, editor, American Control Conference. Piscataway, NJ, United States: Publ by IEEE. 1993. p. 1814-1815
Meldrum, Deirdre ; Wiktor, Peter. / Inverse Jacobian solution for the control of multi-link flexible manipulators. American Control Conference. editor / Anon. Piscataway, NJ, United States : Publ by IEEE, 1993. pp. 1814-1815
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