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
Received:October 9, 1995Accepted:October 20, 1995Published:June 20, 1996
Keywords:Flexible manipulator, Inverse dynamics, Joint feedback
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.
Cite this article as:J. Petrić and J. Deur, “Flexible Manipulator Control Based on Inverse Dynamics Model and Joint Feedback,” J. Robot. Mechatron., Vol.8 No.3, pp. 278-285, 1996.Data files: