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History of Robotics Research and Development of Japan1988ManipulationCompensability of Flexible Robot Arms

Zaho Hui JiangTohoku University
Masaru UchiyamaTohoku University
This paper annalizes the mapping relation between the position and orientation of a flexible-robot-arm end-effector, and, the joint displacements and link elastic deformations that affect the end-effector position and orientation, directly. The analysis is exploited to clarify the arm characteristics in task. First, the effect of the joint displacements and link elastic deformations on the end-effector position and orientation is analyzed. Then, a new concept of compensability is proposed for the problem of compensation of the end-effector position and orientation　error caused by the link elastic deformations. The compensation is done by joint displacements. Next, for an index to evaluate easiness of compensation, a concept of compensability degree is introduced. Using the concept of compensability, the manipulability of a flexible robot arm is discussed. In the discussion, it is found that task performance of the flexible robot arm is degraded, compared with a rigid robot arm, due to the link elastic deformation. The compensability is important as a key concept for understanding the characteristics, such as inverse kinematics, etc., of the mechanism of the flexible robot arm. Related papers are [1], [2] and [3] listed below. The paper [1] presents a control method, in which positioning error of the end-effector of the flexible robot arm caused by its elastic deformations is compensated by joint motion. And, the condition for its convergence is discussed under static circumstances, yielding a convergence condition. Moreover, experimental results using a two-link flexible arm are presented. The related papers [2] and [3] discuss on the controllability of a flexible robot arm. One of dynamic problems coming from the link elastic deformation is a vibration problem. The paper [3] analyzes the controllability for the problem, and shows that at some configurations of the robot arm, the vibration is uncontrollable. The paper [2] presents the distribution of the uncontrollable configurations for a two-link three-DOF spacial flexible arm. 4th RSJ Best Paper Award in 1990.

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Correspondence papers

Zaho Hui Jiang, and Masaru Uchiyama：Compensability of Flexible Robot Arms

Journal of the RSJ, Vol. 6, No. 5, pp. 416-423, 1988 (in Japanese).

M. Uchiyama, and Z. H. Jiang：Compensability of End-Effector Position Errors for Flexible Robot Manipulators

Proceedings of the1991 American Control Conference, pp. 1873-1878, 1991.

Related papers

[1] Masaru Uchiyama, Zhao Hui Jiang, Kyojiro Hakomori: Compensating Control of a Flexible Robot Arm, Journal of the Robotics Society of Japan, Vol. 7, No. 4, pp. 284-294, 1989 (in Japanese).

[2] S. Lopez-Linares, A. Konno and M. Uchiyama: Vibration Controllability of 3D Flexible Manipulators, Transactions of the ASME, Journal of Dynamic Systems, Measurement, and Control, vol. 119, no. 2, pp. 326-330, 1997.

[3] A. Konno, M. Uchiyama, Y. Kito and M. Murakami: Configuration-Dependent Vibration Controllability of Flexible-Link Manipulators, The International Journal of Robotics Research, vol. 16, no. 4, pp. 567-576, 1997.

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