Inverse flexible manipulator model algorithm with convergence analysis

摘要

This paper presents a convergence analysis of an iterative method to obtain the inverse model of flexible manipulator. This inverse model is generally used to obtain a trajectory tip-tracking controller. The inverse method is based on a causal-anticausal integration used in an iterative manner. The convergence analysis is based on contraction mapping theorem and provides a very simple way to expand the desired trajectory to ensure the convergence. The simulation results demonstrate the good performance of the inverse method presented here.