Gl. Wang et Gz. Lu, WELL-POSEDNESS OF INVERSE DYNAMICS OF FLEXIBLE ROBOT ARMS, International journal of robotics & automation, 11(4), 1996, pp. 175-182
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.