An inverse dynamic method yielding flexible manipulator state trajectoriesAn inverse dynamic equation for a flexible manipulator is derived in a state form. By dividing the inverse system into the causal part and the anticausal part, one can calculate torque in the time domain for a certain end-point trajectory, as well as trajectories of all state variables. The open-loop control of the inverse dynamic method shows an excellent result in simulation. For practical applications, a control strategy adapting feedback tracking control to the inverse dynamic feedforward control is illustrated, and experimental results are presented.
Document ID
19910045422
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Kwon, Dong-Soo (Georgia Inst. of Tech. Atlanta, GA, United States)
Book, Wayne J. (Georgia Institute of Technology Atlanta, United States)