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


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
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