Abstract
In this work, we study the model inversion problem of a particular nonlinear nonminimum-phase system, namely the planar multilink flexible manipulator, with the end-effector position as the tracked output. The inverse method is based on nonlinear boundary value problem formulation. We give the general formulation for a discretized model obtained from the Euler-Bernouilli PDE with an assumed modes approach and present the efficiency of this approach for tracking problems, through simulation results for a two-links flexible manipulator.
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