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Rational fraction model for regularized inverse dynamics of a flexible manipulator

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Abstract

The rational fraction model for the regularized inverse dynamics of a flexible manipulator is presented, the effect of this model on alleviating the ill-posed behavior of the calculated torque is demonstrated, and the implication of the regularization parameter selection on the trade-off between the tracking accuracy and the frequency bandwidth of the calculated torque is addressed as well. The validity of the proposed method is illustrated by means of a computer numeric simulation.

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References

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Authors and Affiliations

  1. Department of Computer Science, Shantou University, 515063, Shantou, China

    Guoli Wang

  2. National Laboratory of Intelligent Robot Control, Nankai University, 300071, Tianjin, China

    Guoli Wang

Authors
  1. Guoli Wang
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Additional information

Project supported by the National Natural Science Foundation of China (Grant No. 59605001) and Guangdong Natural Science Foundation (Grant No. 970379).

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Wang, G. Rational fraction model for regularized inverse dynamics of a flexible manipulator. Sci. China Ser. E-Technol. Sci. 41, 600–607 (1998). https://doi.org/10.1007/BF02917043

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  • DOI: https://doi.org/10.1007/BF02917043

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