Analysis of the centrifugal stiffening effects for the inverse dynamics control of flexible manipulators

摘要

In this paper, the dynamic modeling of a manipulator with link flexibility, and an analysis of its end point tracking control through the inverse dynamics approach is presented. The beam theory used to model the flexibility of the manipulator is the simple beam theory of Euler-Bernoulli. The system equations of motion are obtained through the Extended Hamilton Principle, and the beam equation is discretized in space according to modal decomposition. Based on this model, the inverse dynamics control is analyzed. The objective is to obtain accurate tracking with the end point of the flexible link, for which rapid vibration suppression is fundamental.