Stability analysis of the force distribution algorithm for flexible-link cooperating manipulators

摘要

Inverse dynamic solutions for flexible-link manipulators are generally known to be unstable E. Bayo, A finite-element approach to control of the end-point motron of a single-link flexible robot, Journal of Robotic Systems 4 (1987) 63 75 [1]. Thisis due to the non-minimum phase property of the forward dynamic system resulting from the non-collocation of the input joint actuator torques and the output tip rates R. H. Connon, E. Schmitz, Initral experiments on the end-pont control of a flexibleone-link robot, The International Journal of Robotics Research 3(3) (1984) 63 75 [2]. In dealing with the same problem for cooperating manipulators, however, we observed that a certain degree of collocation of the input torques and the output rates can be achieved by actively choosing the tip wrench. Therefore, force distribution schemes can be designed to obtain stable inverse dynamic torques. In our previous research, we showed that different force distribution schemes give different dynamic behaviors of the system. In this paper, we establish a theoretical basis which provides an explanation for the performance of the force distribution schemes. This is done by considering the stability of the internal dynamics of the system.