Inverse Cartesian Trajectory Control and Stabilization of a Three-Axis Flexible Manipulator

Document Type



This article treats the question of end point trajectory control of a flexible manipulator based on the nonlinear inversion technique. The manipulator has two rigid links and the third link is elastic. A parameterization of the Cartesian coordinates of a point close to the end effector position is suggested. Using these coordinates as output variables, an inverse feedback control law is derived for tracking reference Cartesian trajectories. The stability of the zero dynamics associated with the end point motion control is examined. It is shown that inverse control of the end point causes divergent oscillatory flexible modes. In addition, for regulating the end point to a fixed position, a linear stabilizer is designed to damp the elastic vibration. Simulation results are presented to show that in the closed-loop system, reference end point trajectories can be accurately followed in spite of the parameter uncertainty in the arm dynamic model.


Control theory; Manipulators (Mechanism); Trajectories (Mechanics)


Acoustics, Dynamics, and Controls | Control Theory | Manufacturing | Mechanical Engineering | Robotics


Use Find in Your Library, contact the author, or interlibrary loan to garner a copy of the item. Publisher policy does not allow archiving the final published version. If a post-print (author's peer-reviewed manuscript) is allowed and available, or publisher policy changes, the item will be deposited.

UNLV article access

Search your library