Adaptive Kinematic Mapping Based on Chebyshev Interpolation: Application to Flexure-Jointed Micromanipulator Control

• Main Authors: Thanagrid Chuthai, Matthew O.T. Cole, Theeraphong Wongratanaphisan, Pinyo Puangmali
• Format: Journal
• Published: 2020
• Subjects: Computer Science; Engineering
• Online Access: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85076865501&origin=inward; http://cmuir.cmu.ac.th/jspui/handle/6653943832/68325
• Institution: Chiang Mai University

© 1996-2012 IEEE. For flexure-jointed mechanisms and manipulators, accurate kinematic models typically involve complex nonlinear descriptions of elastic behavior and are ill-suited for real-time control computations. An alternative approach is to use multidimensional function approximation methods,...