An inverse dynamic trajectory planning for the end-point tracking control of a flexible manipulator
Abstract
A manipulator system that needs significantly large workspace volume and high payload capacity has greater link flexibility than typical industrial robots and teleoperators. If link flexibility is significant, position control of the manipulator`s end-effecter exhibits the nonminimum phase, noncollocated, and flexible structure system control problems. This paper addresses inverse dynamic trajectory planning issues of a flexible manipulator. The inverse dynamic equation of a flexible manipulator was solved in the time domain. By dividing the inverse system equation into the causal part and the anticausal part, the inverse dynamic method calculates the feedforward torque and the trajectories of all state variables that do not excite structural vibrations for a given end-point trajectory. Through simulation and experiment with a single-link flexible manipulator, the effectiveness of the inverse dynamic method has been demonstrated.
- Authors:
-
- Oak Ridge National Lab., TN (United States)
- Georgia Inst. of Tech., Atlanta, GA (United States). School of Mechanical Engineering
- Publication Date:
- Research Org.:
- Oak Ridge National Lab., TN (United States)
- Sponsoring Org.:
- USDOE, Washington, DC (United States); National Aeronautics and Space Administration, Washington, DC (United States)
- OSTI Identifier:
- 10186259
- Report Number(s):
- CONF-9210174-1
ON: DE93000428; CNN: Grant: NAG 1-623
- DOE Contract Number:
- AC05-84OR21400
- Resource Type:
- Conference
- Resource Relation:
- Conference: 1992 Korean automated control conference (KACC),Seoul (Korea, Republic of),19-21 Oct 1992; Other Information: PBD: [1992]
- Country of Publication:
- United States
- Language:
- English
- Subject:
- 42 ENGINEERING; 99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE; TRAJECTORIES; MANIPULATORS; MATHEMATICAL MODELS; NAVIGATION; ROBOTS; DYNAMICS; MATRICES; TRANSFORMATIONS; INTEGRAL EQUATIONS; TORQUE; FEEDBACK; 420203; 990200; HANDLING EQUIPMENT AND PROCEDURES; MATHEMATICS AND COMPUTERS
Citation Formats
Kwon, D S, Babcock, S M, and Book, W J. An inverse dynamic trajectory planning for the end-point tracking control of a flexible manipulator. United States: N. p., 1992.
Web.
Kwon, D S, Babcock, S M, & Book, W J. An inverse dynamic trajectory planning for the end-point tracking control of a flexible manipulator. United States.
Kwon, D S, Babcock, S M, and Book, W J. 1992.
"An inverse dynamic trajectory planning for the end-point tracking control of a flexible manipulator". United States.
@article{osti_10186259,
title = {An inverse dynamic trajectory planning for the end-point tracking control of a flexible manipulator},
author = {Kwon, D S and Babcock, S M and Book, W J},
abstractNote = {A manipulator system that needs significantly large workspace volume and high payload capacity has greater link flexibility than typical industrial robots and teleoperators. If link flexibility is significant, position control of the manipulator`s end-effecter exhibits the nonminimum phase, noncollocated, and flexible structure system control problems. This paper addresses inverse dynamic trajectory planning issues of a flexible manipulator. The inverse dynamic equation of a flexible manipulator was solved in the time domain. By dividing the inverse system equation into the causal part and the anticausal part, the inverse dynamic method calculates the feedforward torque and the trajectories of all state variables that do not excite structural vibrations for a given end-point trajectory. Through simulation and experiment with a single-link flexible manipulator, the effectiveness of the inverse dynamic method has been demonstrated.},
doi = {},
url = {https://www.osti.gov/biblio/10186259},
journal = {},
number = ,
volume = ,
place = {United States},
year = {Sun Nov 01 00:00:00 EST 1992},
month = {Sun Nov 01 00:00:00 EST 1992}
}