Inverse dynamics of flexible manipulators with Coulomb friction or backlash and non-zero initial conditions

An algorithm is presented for computing non-causal inverse dynamics for non linear noncollocated systems with non-zero initial conditions. A noncolloca ted system has a controlled degree of freedom not collocated with an actuat or. Inverse dynamics is the process of computing actuator inputs to obtain desired responses at the controlled degrees of freedom. The algorithm uses an iterative frequency domain approach in computing the inverse dynamics. T he algorithm is demonstrated via computer simulations of a flexible manipul ator with Coulomb friction in one case, backlash in another case, and non-z ero initial conditions in both cases.