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a time domain inverse dynamic method for the end point tracking control of a flexible manipulatorThe inverse dynamic equation of a flexible manipulator was solved in the time domain. By dividing the inverse system equation into the causal part and the anticausal part, we calculated the torque and the trajectories of all state variables for a given end point trajectory. The interpretation of this method in the frequency domain was explained in detail using the two-sided Laplace transform and the convolution integral. The open loop control of the inverse dynamic method shows an excellent result in simulation. For real applications, a practical control strategy is proposed by adding a feedback tracking control loop to the inverse dynamic feedforward control, and its good experimental performance is presented.
Document ID
Document Type
Preprint (Draft being sent to journal)
Kwon, Dong-Soo
(Georgia Inst. of Tech. Atlanta, GA, United States)
Book, Wayne J.
(Georgia Inst. of Tech. Atlanta, GA, United States)
Date Acquired
August 16, 2013
Publication Date
January 1, 1991
Publication Information
Publication: Manipulation Strategies for Massive Space Payloads
Subject Category
Distribution Limits
Work of the US Gov. Public Use Permitted.
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