Flexible Manipulator Control Based on Inverse Dynamics Model and Joint Feedback
Joško Petrić and Joško Deur
Faculty of Mechanical Engineering and Naval Architecture, The University of Zagreb, HR-10000 Zagreb, I. Lučića 5, Croatia
In this paper a problem of precise positioning and precise trajectory tracking during fast motions of flexible manipulator’s tip is solved by using feedforward and feedback control. Feedforward control acting is the inverse dynamics of the flexible robot, and feedback control acting is a function of the joint variables (angular rotation and angular speed). Inversion of linearized mathematical model of the manipulator dynamics is calculated in the frequency domain, using Fourier transformation. The research presented is theoretical and experimental. Experimental verification of developed control algorithm is performed on the self-made one axis laboratory model of the flexible manipulator arm driven by the permanent magnet AC motor.