抄録
Feed-forward control designs based on quasi-static deformation compensation and exact model inversion for end-effector trajectory tracking are presented. They are tested by simulation of a very flexible two arm manipulator. With both approaches good results for end-effector trajectory tracking are obtained. A significant improvement of the inverse model approach is achieved by inclusion of the elastic rotation of the first arm in the system output description. This yields the far best accuracy of the tested approaches.
