Experimental Implementation of Trajectory Pattern Inverse Dynamics Model based Controller for a Flexible Structure

A new method for the formulation of the inverse dynamics model of flexible structures for point to point motions with minimal residual vibration is presented. The inverse dynamics models are derived using the Trajectory Pattern Method [1-3]. The method is applied to a system containing a flexible joint and a flexible beam. The flexible beam system is modeled as lumped masses connected by spring elements. The inverse dynamics model of the system is derived for a selected tajectory pattern. The trajectories are synthesized to bring the system to rest undeformed at the completion of each motion. The effectiveness of the approach is verified experimentally.