An Inverse Dynamic Method Yielding Flexible Manipulator State Trajectories

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AN INVERSE DYNAMIC METHOD YIELDING FLEXIBLE MANIPULATOR STATE TRAJECTORIES.pdf (478.4 KB)
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Kwon, Dong-Soo
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http://hdl.handle.net/1853/39125
Abstract
An inverse dynamic equation for a flexible manipulator is derived in a state space form. By dividing the inverse system into the causal part and the anticausal part, we can calculate torque in the time domain for a certain end point trajectory, as well as trajectories of all state variables. The open loop control of the inverse dynamic method shows an excellent result in simulation. For practical applications, a control strategy adapting feedback tracking control to the inverse dynamic feedforward control is illustrated, and its good experimental result is presented.
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1990-05
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