Analytic Forward and Inverse Kinematics of a Multi-Elastic-Link Robot Arm

Konferenz: ISR 2016 - 47st International Symposium on Robotics
21.06.2016 - 22.06.2016 in München, Germany

Tagungsband: ISR 2016

Seiten: 6Sprache: EnglischTyp: PDF

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Alsayegh, Myrel; Mues, Freia Irina; Bertram, Torsten (TU Dortmund – RST, Dortmund, Germany)
Malzahn, Joern (Istituto Italiano Di Tecnologia (IIT) - ADVR, Genova, Italy)

Link elasticity in lightweight robots contributes oscillatory behavior as well as load related deflections. These effects drastically complicate the derivation and generalization of analytical solutions to both forward and inverse kinematics. This paper presents two approaches to address this challenge and provides experimental results for a 3 DOF elastic-link robot arm. These are referenced against a previously developed data-based solution.