Inverse Dynamics of Flexible Robot Arms: Modeling and Computation for Trajectory Control

[+] Author and Article Information
H. Asada

Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139

Z.-D. Ma, H. Tokumaru

Department of Applied Systems Science, Kyoto University, Kyoto, Japan

J. Dyn. Sys., Meas., Control 112(2), 177-185 (Jun 01, 1990) (9 pages) doi:10.1115/1.2896124 History: Received February 12, 1988; Revised August 23, 1988; Online March 17, 2008


The inverse dynamics of robot manipulators based on flexible arm models are considered. Actuator torques required for a flexible arm to track a given trajectory are formulated and computed by using special moving coordinate systems, called virtual rigid link coordinates. Dynamic deformations of the flexible arm can be represented in a simple and compact form with use of the virtual coordinate systems. This eliminates a number of terms involved in the equations of motion and significantly reduces complexity in the inverse dynamics computation. An efficient algorithm for computing the actuator torques is then presented on the basis of the simplified formulation, and applied to a two-link arm problem.

Copyright © 1990 by The American Society of Mechanical Engineers
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