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Note on the relative degree of a flexible manipulator and implications to inverse dynamics for tracking control

Published online by Cambridge University Press:  31 January 2002

G.L. Wang  and
H. Unbehauen
G.L. Wang
Affiliation:
Department of Computer Science, Shantou University, 515063 Shantou, P.R. China. glwang@esr.ruhr-uni-bochum.de. Permanent address: Control Engineering Laboratory, Faculty of Electrical Engineeering, Ruhr-University Bochum, 44780 Bochum (Germany)
H. Unbehauen
Affiliation:
Control Engineering Laboratory, Faculty of Electrical Engineeering, Ruhr-University Bochum, 44780 Bochum (Germany)
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Abstract

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This paper rechecks the relative degree of the end-point tracking control system of a flexible manipulator. New added insights into the ill-defined behavior of the relative degree are presented by constructing a perturbed truncation model. The implications for the inverse dynamics motivate us to reformulate the inverse dynamics based on the perturbed truncation model in the extreme case of truncating all of the flexible modes. New potential advantages arising from this novel formulation are investigated for the inverse dynamics control design as well.

Keywords

Inverse dynamicsFlexible manipulatorTracking controlTruncation model
Type
Research Article
Information
Robotica , Volume 20 , Issue 1 , January 2002 , pp. 33 - 48
Copyright
© 2002 Cambridge University Press