An inverse dynamic trajectory planning for the end-point tracking control of a flexible manipulator

Conference · Wed Jan 01 00:00:00 EST 1992

OSTI ID:7016292

Kwon, D S; Babcock, S M ^[1]; Book, W J ^[2]

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1. Oak Ridge National Lab., TN (United States)
2. Georgia Inst. of Tech., Atlanta, GA (United States). School of Mechanical Engineering

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.

• Research Organization: Oak Ridge National Lab., TN (United States)
• Sponsoring Organization: USDOE; National Aeronautic and Space Administration (NASA); USDOE, Washington, DC (United States); National Aeronautics and Space Administration, Washington, DC (United States)
• DOE Contract Number: AC05-84OR21400
• OSTI ID: 7016292
• Report Number(s): CONF-9210174-1; ON: DE93000428; CNN: NAG 1-623
• Resource Relation: Conference: 1992 Korean automated control conference (KACC), Seoul (Korea, Republic of), 19-21 Oct 1992
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE
MANIPULATORS
MATHEMATICAL MODELS
TRAJECTORIES
DYNAMICS
FEEDBACK
INTEGRAL EQUATIONS
MATRICES
NAVIGATION
ROBOTS
TORQUE
TRANSFORMATIONS
EQUATIONS
EQUIPMENT
LABORATORY EQUIPMENT
MATERIALS HANDLING EQUIPMENT
MECHANICS
REMOTE HANDLING EQUIPMENT
420203* - Engineering- Handling Equipment & Procedures
990200 - Mathematics & Computers