Inversion of flexible manipulator dynamics via the trajectory pattern method

Farshad Khorrami, Joseph A. Lewinsohn, Jahangir Rastegar, Sandeep Jain

Research output: Contribution to journalConference articlepeer-review


In this paper, the Trajectory Pattern Method (TPM) is utilized as a technique for synthesizing motion trajectories and generating inverse dynamics model based feedforward control signals for vibration free maneuvers of multi-link flexible manipulators. This technique is an application of our earlier paper, where the Trajectory Pattern Method (TPM) was introduced as an inversion technique for nonlinear (including non-minimum phase) control systems. Specifically, using this method, a stable inverse for the flexible manipulator dynamics is obtained. The efficacy of this scheme is illustrated through experimental results on a two-link flexible manipulator at the Control/Robotics Research Laboratory (CRRL).

Original languageEnglish (US)
Pages (from-to)3325-3330
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
StatePublished - 1995
EventProceedings of the 1995 34th IEEE Conference on Decision and Control. Part 1 (of 4) - New Orleans, LA, USA
Duration: Dec 13 1995Dec 15 1995

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization


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