Closed-loop inverse kinematics algorithm for constrained flexible manipulators under gravity

This work deals with the inverse kinematics problem for a flexible robot ma nipulator under gravity in contact with a stiff surface. This problem consi sts of finding the joint and deflection variables for a given tip position and constraint force. The solution algorithm is based on the well-known clo sed-loop inverse kinematics (CLIK) scheme, using the Jacobian transpose, de veloped for rigid manipulators. The Jacobian employed in the algorithm is o btained by correcting the equivalent rigid manipulator Jacobian with two te rms that account for the static deflections due to gravity and contact forc e, respectively. The algorithm is tested in a number of case studies on a p lanar two-link arm. (C) 1999 John Wiley & Sons, Inc.