Computed torque for the position control of open-chain flexible robots

A technique is presented for the solution of the inverse dynamics of open-chain flexible robots. The proposed method finds the joint torques necessary to produce a specified end-effector motion. The formulation includes all the nonlinear terms due to the large rotation of the links, together with Timoshenko beam theory to model their elastic characteristics. The finite-element method is used to discretize the equations of motion. The performance and capabilities of this technique are tested through a simulation analysis. Results show the potential of the method not only for feedforward control, but also for incorporation in feedback control strategies