Title:
A Time-Domain Inverse Dynamic Tracking Control of a Single-Link Flexible Manipulator
A Time-Domain Inverse Dynamic Tracking Control of a Single-Link Flexible Manipulator
Author(s)
Kwon, Dong-Soo
Book, Wayne J.
Book, Wayne J.
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Abstract
A manipulator system with a large workspace volume and high payload capacity
has greater link flexibility than do typical industrial robots and teleoperators. If link
flexibility is significant, position control of the manipulator's end-effector exhibits
nonminimum-phase, noncollocated, and flexible-structure system control problems.
This paper addresses inverse dynamic trajectory planning issues of a single-link
flexible manipulator. The inverse dynamic equation of a single-link flexible manipulator
was solved in the time-domain. By dividing the inverse system equation into
its causal part and anticausal part, the inverse dynamic method calculates the feed-forward
torque and the trajectories of all state variables that do not excite structural
vibrations for a given end-point trajectory. Through simulation and experiment with
a single-link manipulator, the effectiveness of the inverse dynamic method in producing
fast and vibration-free motion has been demonstrated.
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Date Issued
1994-06
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Article