Inversion of flexible manipulator dynamics via the trajectory pattern method

In this paper, the trajectory pattern method (TPM) (an inversion technique for nonlinear, including nonminimum phase, control systems) is utilized as a technique for synthesizing motion trajectories and generating inverse dynamics model based feedforward control signals for vibration-free maneuvers of multilink flexible manipulators. Specifically, using this method, a stable inverse for the flexible manipulator dynamics is obtained. The efficacy of this scheme is illustrated through experimental results on a two-link flexible manipulator at the Control/Robotics Research Laboratory (CRRL).