Abstract
We have proposed a design method of feedforward input that does not excite high frequency resonance modes based on a final-state control (FSC). However, for a long span motion, the number of steps of feedforward input tends to be higher, and the final-state control method may not produce a correct solution because of numerical conditions. In this paper, we propose a new design method of the final-state control for the long span motion. The amount of calculation is reduced to have time intervals in which the feedforward input is a constant or zero. The effectiveness is shown by simulations.
