Ta. Trautt et E. Bayo, Inverse dynamics of flexible manipulators with Coulomb friction or backlash and non-zero initial conditions, DYN CONTROL, 9(2), 1999, pp. 173-195
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.