A new iterative approach to solving the inverse flexible-link manipulator kinematics is presented in this paper. Based on adopting the iterative learning idea and Newton-Raphson gradient method, the iterative law is constructed. The approach can dynamically and precisely compensate for path errors caused by link elastic deflections. Numerical computation is done on a planar two-link revolute type flexible manipulator modeled by mass/spring method. The results show the effectiveness of this approach.
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