Acceleration Profiles for Causal Solutions of the Inverse Dynamics Approach to the Control of Single Link Flexible Arms

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

Department of Mechanical Engineering, Univeristy of California, Santa Barbara, CA 93106

J. Dyn. Sys., Meas., Control 113(4), 752-754 (Dec 01, 1991) (3 pages) doi:10.1115/1.2896487 History: Received January 10, 1989; Revised July 01, 1990; Online March 17, 2008


A scheme for the design of rest-to-rest acceleration profiles to be used in the inverse dynamics approach to the control of the end-point of single link flexible arms is described. The scheme uses linear discrete models, and a stable pole-cancellation method to obtain acceleration profiles that yield inverse dynamics torques with the same supports as that of the end-point acceleration profiles; it allows for a design which reaches a balance between overshoot, peak torque and actuation time.

Copyright © 1991 by The American Society of Mechanical Engineers
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