Inverse dynamics of flexible manipulators with Coulomb friction or backlash and non-zero initial conditions
type: Item
instance of: scholarly article
title: Inverse dynamics of flexible manipulators with Coulomb friction or backlash and non-zero initial conditions
zbMATH Open document ID: 0926.93052
DOI: 10.1023/A:1008369813432
author: Thomas A. Trautt
author: Eduardo Bayo
published in: Dynamics and Control
publication date: 1999-11-29T00:00:00Z
review text: For nonlinear control systems, of the form \[ \begin{cases} M\ddot x+ C\dot x+ Kx= Bu+ e(x,\dot x,u,t),\\ y= Gx,\end{cases} \] with \(x\), \(u\), \(y\) denoting respectively the state, input and output vectors, \(u\) and \(y\) being of equal dimensionality, and with constant matrices \(M\), \(C\), \(K\), \(G\), iterative, approximate algorithms of direct and inverse dynamics are presented. We recall that the direct dynamics consist in computing an output trajectory \(y(t)\) for given control \(u(t)\) and an initial state \(x_0\), while the inverse dynamics algorithm finds out a control action generating a desirable output trajectory (i.e. perform the system inversion). As an illustration of the inverse dynamics algorithm, a mathematical model of a flexible link robotic manipulator with a single link is examined; it includes viscous damping, Coulomb friction and backslash. Computer simulations demonstrate the performance of the algorithm.
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 70B15
Mathematics Subject Classification ID: 74A55
zbMATH DE Number: 1295121
zbMATH Keywords: inverse dynamics
zbMATH Keywords: flexible link robotic manipulator
zbMATH Keywords: viscous damping
zbMATH Keywords: Coulomb friction
zbMATH Keywords: backslash
reviewed by: Krzysztof Tchoń
MaRDI profile type: Publication
full work available at URL: a:1008369813432
OpenAlex ID: W257405258
description: scientific article; zbMATH DE number 1295121