学習アルゴリズムを用いたフレキシブルマニピュレータの逆運動学解法 An Inverse Kinematics Solution for Flexible Manipulators Using Learning Algorithm
A solution for the inverse kinematics problem of flexible manipulators is presented. The solution exploits iterative calculation techniques that are based on the idea of learning control. The proposed method successfully finds the joint variables as well as the link deflections for a desired trajectory of the end-eifector. The performance and capabilities of the method are tested through simulation using a planar two-link flexible manipulator model.
計測自動制御学会論文集 33(8), 858-860, 1997-08-31
The Society of Instrument and Control Engineers