Spatial flexible manipulator trajectory control through solving the inverse kinematics

摘要

In this paper, the inverse kinematics of a spatial flexible link manipulator which is the most fundamental issue in Cartesian space trajectory control, is investigated. First based on some rational assumptions, an approximate solution in the sense that the problem is solved not fully dynamically, is found by a numerical method. Next, a numerical iterative learning approach is presented to further reduce the end-effector's position errors remained in the approxmate solution. convergence analysis for both methods are also conducted. Numerical simulation and real experiment are carried out on a laboratory manipulator with two flexible links and three rigid revolute type joints. Results are shown to validate the proposed methods.