Abstract#R##N##R##N#A technique to determine the relationship between the generalized joint torque and the generalized force exerted by the end-effector of a flexible link manipulator on the environment is presented. First, a systematic technique which accounts for the links' bending and torsion is used to determine the kinematic equations of the manipulator. A procedure to determine a “pseudo” Jacobian matrix which accounts for the links' flexibility is then developed. In the determination of the pseudo Jacobian matrix, partial derivatives are not used, thus reducing inaccuracies resulting from approximating the bending and torsion of the links. Using the principle of virtual work, a force and torque relationship between the joints and end-effector is obtained. To demonstrate the validity of the technique presented, computer simulations of the resulting force/torque relationship are compared to results obtained experimentally.
['David Kozel', 'A. J. Koivo', 'S.S. Mahil']
A general force/torque relationship and kinematic representation for flexible link manipulators