Stable Inversion Control for Flexible Link Manipulators

We consider the inverse dynamics problem for robot arms with, flezible lids, i.e., the computation of the input torque that allows exact tracking of a trajec tor~y definedfor the manipulator end-e flector. A stable inversion controller is derived numerically, based on the computation of bounded link deformations and, from these, of the? equiredfe edforwardtorque associated with, the desired tip motion, For a gerteral class of multi-link jle.zible manipulators, three alternative computational algorithms are presented, all dejined on the second-order robot dynamic equations, Trajectory tracking is obtained by addinq a (partial) state feedback, within a r/orllirlearre gT~latior~ approach. Experirr]eT/talres?llt,s are reported forthe FLEXARMroboi.