Analysis of Feed-Forward Control Design Approaches for Flexible Multibody Systems

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End-effector trajectory tracking of flexible multibody systems is a challenging task. In this paper feed-forward control designs based on quasi-static deformation compensation and exact model inversion for end-effector trajectory tracking are presented. They are combined with a simple feedback strategy and tested by simulation of a very flexible two arm manipulator. With both approaches good results for end-effector trajectory tracking are obtained. It is shown that a significant improvement of the inverse model approach is achieved by including the elastic rotation of the first arm in the system output description. This yields the far best accuracy of the tested approaches.