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TECHNICAL PAPERS

Accuracy of Discrete Models for the Solution of the Inverse Dynamics Problem for Flexible Arms, Feasible Trajectories

[+] Author and Article Information
H. C. Moulin

Matra Cap Systemes. LTIS, BP 14, 78142 Velizy Villacoublay, Cedex, France

E. Bayo

School of Engineering and Architecture, University of Navarra, 31080 Pamplona, Spain

J. Dyn. Sys., Meas., Control 119(3), 396-404 (Sep 01, 1997) (9 pages) doi:10.1115/1.2801271 History: Received February 13, 1997; Online December 03, 2007

Abstract

The inverse dynamics problem for a single link flexible arm is considered. The tracking order of consistent and lumped finite element models is derived and compared with the tracking order of the continuous model when there is no tip-mass. These comparisons show that discrete models fail to identify the tracking order of a modelled continuous system. A frequency domain analysis shows that an increase in the model order extends the well-modelled low-frequency range and, at the same time, increases the inadequacy in the high-frequency range. As a result, inverse dynamics solutions computed with discrete models do not converge to the continuous solution as the model order increases. The use of high-frequency filters allows us to construct a convergent numerical procedure. A conjecture about the tracking order is presented when there is a tip mass. It is shown that the same results are obtained if superposition of modes rather than finite elements is used.

Copyright © 1997 by The American Society of Mechanical Engineers
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