TRAJECTORY SYNTHESIS AND INVERSE DYNAMICS MODEL FORMULATION AND CONTROL OF TIP MOTION OF A HIGH-PERFORMANCE FLEXIBLE POSITIONING SYSTEM

A new method to synthesize tip-point trajectory for mechanical systems with structural flexibility and formulate the inverse dynamics model is presented. The inverse dynamics models are derived for selected trajectory patterns in parametric form [1-3]. The trajectories are synthesized such that the natural modes of vibration are not excited and minimal residual vibration is achieved. The structure of the inverse dynamics models permits the construction of tracking controllers with minimal on-line and off-line computations. The results of computer simulation for a high-performance positioning system are presented.