Inverse dynamics of non-minimum phase systems with non-zero initial conditions

DOI10.1023/A:1008260931585MaRDI QIDQ674776zbMATH OpenOpenAlexFDO

Authors Thomas A. Trautt, Eduardo Bayo

Publication date 5 January 1998

Published in Dynamics and Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1023/a:1008260931585

zbMATH Keywords

approximate transfer functiondampingdistributed parametersfinite elementsforcing functioninverse fast Fourier transformsingle-link flexible manipulatorTimoshenko beamtip displacementstorque profileszero frequency

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) Vibrations in dynamical problems in solid mechanics (74H45) Rods (beams, columns, shafts, arches, rings, etc.) (74K10)

Review text

The inverse dynamics problem is considered for a stable linear time-invariant non-minimum phase mechanical system with distributed parameters. Zero frequency eigenvalues correspond to the rigid modes. As all natural modes except for the zero frequency have some damping, the transfer function has not zeros on the imaginary axis except for the zero point. The authors use an approximate transfer function which has not zero points in the right half-plane. The forcing function is determined in such a way that only one variable follows a desired trajectory, and the inverse fast Fourier transform is employed. Computer simulation based on the proposed method is performed for a single-link flexible manipulator by using finite elements for the Timoshenko beam, and torque profiles to control the tip displacements are calculated.

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Cited in

(7)

• Inverse dynamics of flexible manipulators with Coulomb friction or backlash and non-zero initial conditions
• The construction of a minimizing sequence when solving inverse problems in dynamics
• Asymptotic inverse dynamics of non-linear systems
• A non‐recursive Lagrangian solution of the non‐causal inverse dynamics of flexible multibody systems: The planar case
• On the Stability of Zero Dynamics of a Single-Link Flexible Manipulator for a Class of Parametrized Outputs
• A finite energy property of stable inversion to nonminimum phase nonlinear systems
• Asymptotic inverse dynamics of feedback linearizable systems

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