0
RESEARCH PAPERS

A Time-Domain Inverse Dynamic Tracking Control of a Single-Link Flexible Manipulator

[+] Author and Article Information
Dong-Soo Kwon

Robotics & Process Systems Division, Oak Ridge National Laboratory, Oak Ridge, TN 37831-6304

Wayne J. Book

George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332

J. Dyn. Sys., Meas., Control 116(2), 193-200 (Jun 01, 1994) (8 pages) doi:10.1115/1.2899210 History: Received November 01, 1990; Revised January 05, 1993; Online March 17, 2008

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.

Copyright © 1994 by The American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In