The inverse dynamics problem for a single link flexible arm is considered. The tracking order of consistent and lumped finite element models is derived and compared with the tracking order of the continuous model when there is no tip-mass. These comparisons show that discrete models fail to identify the tracking order of a modelled continuous system. A frequency domain analysis shows that an increase in the model order extends the well-modelled low-frequency range and, at the same time, increases the inadequacy in the high-frequency range. As a result, inverse dynamics solutions computed with discrete models do not converge to the continuous solution as the model order increases. The use of high-frequency filters allows us to construct a convergent numerical procedure. A conjecture about the tracking order is presented when there is a tip mass. It is shown that the same results are obtained if superposition of modes rather than finite elements is used.
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September 1997
Technical Papers
Accuracy of Discrete Models for the Solution of the Inverse Dynamics Problem for Flexible Arms, Feasible Trajectories
H. C. Moulin,
H. C. Moulin
Matra Cap Systemes. LTIS, BP 14, 78142 Velizy Villacoublay, Cedex, France
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E. Bayo
E. Bayo
School of Engineering and Architecture, University of Navarra, 31080 Pamplona, Spain
Search for other works by this author on:
H. C. Moulin
Matra Cap Systemes. LTIS, BP 14, 78142 Velizy Villacoublay, Cedex, France
E. Bayo
School of Engineering and Architecture, University of Navarra, 31080 Pamplona, Spain
J. Dyn. Sys., Meas., Control. Sep 1997, 119(3): 396-404 (9 pages)
Published Online: September 1, 1997
Article history
Received:
February 13, 1997
Online:
December 3, 2007
Citation
Moulin, H. C., and Bayo, E. (September 1, 1997). "Accuracy of Discrete Models for the Solution of the Inverse Dynamics Problem for Flexible Arms, Feasible Trajectories." ASME. J. Dyn. Sys., Meas., Control. September 1997; 119(3): 396–404. https://doi.org/10.1115/1.2801271
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