Cancelling vibrations in flexible articulated structures using non-causal inverse dynamics

Inverse dynamics is the process of computing actuator efforts to produce de sired responses. An algorithm is presented which uses a non-causal inverse dynamics approach to cancel vibrations in a flexible manipulator or a flexi ble articulated structure. Solutions are obtained for individual modes and then combined to obtain general solutions. This approach can be used for re al time control since few computations are required for combining the solut ions. The algorithm is demonstrated via computer simulations of a 60 m depl oyable boom on the Space Shuttle. The boom was used in the Shuttle Radar To pography Mission on a Space Shuttle flight in February 2000. An analytical study to demonstrate the advantages of using inverse dynamics in this type of articulated structure is presented.