Accuracy of discrete models for the inverse dynamics of flexible arms, feasible trajectories

The accuracy of discrete models for the inverse dynamics is studied. The partial differential equation (PDE) modeling a flexible arm is referred to as a continuous model, and discretizations resulting in systems of ordinary differential equations (ODEs) are referred to as discrete models. The tracking order of the inverse dynamics for a single-link flexible arm is derived from a continuous model of the plant in the case where there is no tip mass. It is shown how discrete models may fail to identify this tracking order. Problems arising when discrete models are used are identified and solved in the frequency domain