An Inverse Dynamic Method Yielding Flexible Manipulator State Trajectories

An inverse dynamic equation for a flexible manipulator is derived in a state form. By dividing the inverse system into the causal part and the anticausal part, we can calculate torque in the time domain for a certain end point trajectory, as well as trajectories of all state variabls. The open loop control of the inverse dynamic method shows an excellent result in simulation. For practical applications, a control strategy adapting feedback tracking control to the inverse dynamic feedforward control is illustrated, and its good experimental result is presented.