End-point trajectory control, stabilization, and zero dynamics of a three-link flexible manipulator

The question of end-point trajectory control of a flexible manipulator based on the nonlinear inversion technique is discussed. The manipulator has two rigid links and the third link is elastic. A parameterization of the cartesian coordinates of a point close to the end effector position is suggested. Using these coordinates as output variables, an inverse feedback control law is derived for tracking reference cartesian trajectories. The stability of the zero dynamics associated with the end point motion control is examined. For regulation of the end point to a fixed position, a linear stabilizer is designed to damp the elastic vibration