On the Accuracy of End-Point Trajectory Tracking for Flexible Arms by Noncausal Inverse Dynamic Solutions

[+] Author and Article Information
H. Moulin, E. Bayo

Department of Mechanical Engineering, Center for Robotic Systems in Microelectronics, University of California, Santa Barbara, CA 93106

J. Dyn. Sys., Meas., Control 113(2), 320-324 (Jun 01, 1991) (5 pages) doi:10.1115/1.2896384 History: Received February 01, 1990; Online March 17, 2008


The problem of open-loop control of the end-point trajectory of a single-link flexible arm by an inverse dynamic solution is addressed in this paper. A finite element discretization of the system is used to obtain a set of ordinary differential equations describing the motion. Theoretical difficulties pertaining to the inverse problem for flexible structures are exposed, and it is shown that a noncausal solution for the actuating torque enables a tracking of an arbitrary tip displacement with any desired accuracy.

Copyright © 1991 by The American Society of Mechanical Engineers
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