A Time - Domain Inverse Dynamic Tracking Control of a Single - Link Flexible Manipulator 1

Wayne J. Book George W. Woodruff SchOOl of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332 A manipulator system with a large workspace volume and high payload capa~ity has greater link flexibility than do typical industrial robots and teleoperators. N Imk flexibility is significant, position control of the manipulator's end-effector exhibits nonminimum-phase. noncollocated, and flexible-structure system control problems. This paper addresses inverse dynamic trajectory planning issues of a single-link flexible manipulator. The inverse dynamic equation of a single-link flexible manipulator was solved in the time-domain. By dividing the inverse system equation into its causal part and anticausal part, the inverse dynamic method calculates che feedforward torque and the trajeccories of all state variables that do not excite scructural vibrations for a given end-point trajectory. Through simulation and experiment with a single-link manipulator, the effectiveness of the inverse dynamic method in producing fast and vibration-free motion has been demonstrated.