Ds. Kwon et Wj. Book, A TIME-DOMAIN INVERSE DYNAMIC TRACKING CONTROL OF A SINGLE-LINK FLEXIBLE MANIPULATOR, Journal of dynamic systems, measurement, and control, 116(2), 1994, pp. 193-200
A manipulator system with a large workspace volume and high payload ca
pacity has greater link flexibility than do typical industrial robots
and teleoperators. If link flexibility is significant, position contro
l of the manipulator's end-effector exhibits nonminimum-phase, noncoll
ocated, and flexible-structure system control problems. This paper add
resses inverse dynamic trajectory planning issues of a single-link fle
xible manipulator. The inverse dynamic equation of a single-link flexi
ble manipulator was solved in the time-domain. By dividing the inverse
system equation into its causal part and anticausal part, the in vers
e dynamic method calculates the feed-forward torque and the trajectori
es of all state variables that do not excite structural vibrations for
a given end-point trajectory. Through simulation and experiment with
a single-link manipulator, the effectiveness of the inverse dynamic me
thod in producing fast and vibration-free motion has been demonstrated
.