Existence of Feasible Solutions to the Inverse Dynamics of Flexible Robot Arms and Guidlines for Designing Arm Links

Zheng-Dong MA, Haruhiko ASADA, Hidekatsu TOKUMARU
1989 Transactions of the Society of Instrument and Control Engineers  
Properties of solutions to the inverse dynamics problem of n-link, planar, flexible manipulator arms are analyzed. Conditions for the solution to be meaningful and usable as control commands are obtained. It is shown that, when a given trajectory to follow comprises the same frequency components as the extended natural frequencies of the arm structure, the solution to the inverse dynamics problem, which is provided as actuator torque commands, bocomes oscillatory and divergent with time. The
more » ... ergence of actuator torque commands also occurs when any two of the extended natural frequencies are the same. Guidelines for the design of the flexible arm as well as the planning of the endpoint trajectory are then provided. Analytical results are verified through simulation.
doi:10.9746/sicetr1965.25.325 fatcat:jv4omvgbdbfibem4sqqaqu4ofu