Symmetric dichotomy based inverse dynamic model of a high-speed flexible beam Original Research Article

The symmetric causal/acausal dichotomy based model is developed for the bounded noncausal internal dynamics of a high-speed flexible beam, and the resultant modeling redundancy is revealed. The efficient algorithm for computing the nominal torque as well as the state trajectories is proposed to relieve the redundant computational burden of the time-domain inverse dynamic solutions, and its implication to trajectory planning is also investigated.