A recursive approach of inverse dynamics for flexible manipulators

To realize the trajectory control of a flexible manipulator, a so-called virtual rigid manipulator is introduced to describe the specified trajectory. The recursive kinematics relations and dynamics equation in the form of variation are established. A recursive approach of inverse dynamics is developed, which is simple and has higher computation efficiency. A two-links planar flexible manipulator is studied to verify the effectiveness of the approach proposed.This work was supported by the National Natural Science Foundation of China and a Doctoral Program.