Solving the inverse dynamics of a flexible 3D robot for a trajectory tracking task

The end-effector trajectory tracking of robotic manipulators with flexible links requires advanced control concepts. In order to compute the feedforward component of the control scheme, the inverse dynamics of such flexible 3D multibody system is solved using an optimal control method. The robot is modeled using nonlinear finite elements formulated on the SE(3) group. Hence singularity and parameterization issues that can arise from 3D rotations are avoided. A numerical example of a 3D flexible arm is analyzed to demonstrate the capabilities of the method.

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