RESEARCH PAPERS: Mechanisms Papers

Inverse Dynamics of a Flexible Robot Arm by Optimal Control

[+] Author and Article Information
T. Kokkinis, M. Sahraian

Department of Mechanical and Environmental Engineering, University of California, Santa Barbara, CA 93106

J. Mech. Des 115(2), 289-293 (Jun 01, 1993) (5 pages) doi:10.1115/1.2919190 History: Received March 01, 1990; Revised December 01, 1990; Online June 02, 2008


The problem of end-point positioning of flexible arms is discussed. Because of the nonminimum phase nature of the problem, inversion fails to produce bounded joint torques. Bounded noncausal joint torques for achieving the task of end-point tracking for a multilink arm are found using optimal control theory. The torques obtained have no high-frequency content, and are suitable for practical applications. The method is illustrated by simulation of a single-link arm, for which stability and robustness considerations for design are given.

Copyright © 1993 by The American Society of Mechanical Engineers
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