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

Conference: ISR 2016 - 47st International Symposium on Robotics
06/21/2016 - 06/22/2016 at München, Germany

Proceedings: ISR 2016

Pages: 6Language: englishTyp: 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.