By Topic

An efficient computation of the inverse dynamics of flexible manipulators in the time domain

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Bayo, E. ; Dept. of Mech. Eng., California Univ., Santa Barbara, CA, USA ; Moulin, H.

The problem of controlling the endpoint motion of flexible arms is addressed. A finite-element discretization of the system is carried out to obtain a set of ordinary differential equations that describe the motion of the manipulator. Theoretical and numerical difficulties pertaining to the inverse dynamic problem for flexible arms in the time domain are exposed. A novel time domain algorithm, much more efficient than that in the frequency domain, is presented. It is shown that the algorithm leads to the desired noncausal solution, and it eliminates the instability problems that arise if a direct integration scheme is used. Since the impulse response function can be computed offline, the only online computational burden consists of calculating convolution integrals. These can be integrated in real time. Extensions to the multilink case are discussed

Published in:

Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on

Date of Conference:

14-19 May 1989