Acceleration Profiles for Causal Solutions of the Inverse Dynamics Approach to the Control of Single Link Flexible Arms

Abstract

A scheme for the design of rest-to-rest acceleration profiles to be used in the inverse dynamics approach to the control of the end-point of single link flexible arms is described. The scheme uses linear discrete models, and a stable pole-cancellation method to obtain acceleration profiles that yield inverse dynamics torques with the same supports as that of the end-point acceleration profiles; it allows for a design which reaches a balance between overshoot, peak torque and actuation time.