Title:
An Inverse Dynamic Method Yielding Flexible Manipulator State Trajectories
An Inverse Dynamic Method Yielding Flexible Manipulator State Trajectories
Author(s)
Kwon, Dong-Soo
Book, Wayne J.
Book, Wayne J.
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Abstract
An inverse dynamic equation for a flexible
manipulator is derived in a state space form. By dividing
the inverse system into the causal part and the anticausal
part, we can calculate torque in the time domain for a
certain end point trajectory, as well as trajectories of all
state variables. The open loop control of the inverse
dynamic method shows an excellent result in simulation.
For practical applications, a control strategy adapting
feedback tracking control to the inverse dynamic
feedforward control is illustrated, and its good experimental
result is presented.
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Date Issued
1990-05
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Text
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Proceedings