An iterative forward transformation algorithm is developed to compute the pose at the end effector of a manipulator when subjected to joint compliances and link deflections. The algorithm is based on the homogeneous transformation matrices and a gravity term associated with each joint. In addition, an identification algorithm has been developed to determine the kinematic and structural parameters of a flexible manipulator used in the forward transformation algorithm. As most of the links of a manipulator are not simple beams, the identification algorithm is particular useful to obtain a set of correct parameters. Results of the simulation tests for a 6-DOF robot are shown to check these algorithms.

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