WELL-POSEDNESS OF INVERSE DYNAMICS OF FLEXIBLE ROBOT ARMS

The noninvertibility of the forward dynamic model of a single-link fle xible robot arm is recognized, and the resultant limitation for solvin g inverse dynamic solutions is clarified in both the time domain and t he frequency domain. To eliminate the effect of the noninvertibility o f the forward dynamic model, the regularized inverse dynamic solutions are found based on a pseudo-forward dynamic model with a smooth appro ximation of the net tip output. The validity of the results in this pa per is confirmed by means of computer simulations.