TRAJECTORY SYNTHESIS AND INVERSE DYNAMICS MODEL FORMULATION AND CONTROL OF TIP MOTION OF A HIGH-PERFORMANCE FLEXIBLE POSITIONING SYSTEM

A new method to synthesize tip-point trajectory for mechanical systems with structural flexibility and formulate the inverse dynamics model is presented. The inverse dynamics models are derived for selected tra jectory patterns in parametric form [1-3]. The trajectories are synthe sized such that the natural modes of vibration are not excited and min imal residual vibration is achieved. The structure of the inverse dyna mics models permits the construction of tracking controllers with mini mal on-line and off-line computations. The results of computer simulat ion for a high-performance positioning system are presented.