フレキシブルロボットアームのモデル簡略化に関する考察と逆動力学問題の解法

抄録

Inverse dynamics of n-joint planar flexible arms are investigated through the modeling, linearization and characterization of dynamic behavior. The inverse dynamic problem of the flexible arm is analyzed based on the simplified model. An efficient algorithm for computing the actuator torques that satisfy the simplified model exactly is then presented and applied to a two-link arm problem.