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Existence of Feasible Solutions to the Inverse Dynamics of Flexible Robot Arms and Guidlines for Designing Arm Links
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. Thedoi:10.9746/sicetr1965.25.325 fatcat:jv4omvgbdbfibem4sqqaqu4ofu