Yim, Woosoon; Singh, Sahjendra N. Nonlinear inverse and predictive end point trajectory control of flexible macro-micro manipulators. (English) Zbl 0899.93025 J. Dyn. Syst. Meas. Control 119, No. 3, 412-420 (1997). A new approach to the end effector trajectory control of an elastic macro-micro (M-m) manipulator is presented. The inverse control law is used for the precise tracking of the end effector trajectory in the workspace while the predictive control law is used for the control of the pseudoangles of the macro manipulator and for elastic mode stabilization. It is shown that the proper combination of the inverse and the predictive controllers can accomplish precise tracking capability, vibration suppression, and a smooth control torque. The results are applied to a planar M-m robotic system consisting of one flexible link and two micro rigid links on the macro link top. Reviewer: I.Randvee (Tallinn) Cited in 3 Documents MSC: 93C85 Automated systems (robots, etc.) in control theory 74M05 Control, switches and devices (“smart materials”) in solid mechanics 93B51 Design techniques (robust design, computer-aided design, etc.) Keywords:elastic macro-micro manipulator; planar robotic system; inverse control law; tracking; predictive control; elastic mode stabilization; vibration suppression PDFBibTeX XMLCite \textit{W. Yim} and \textit{S. N. Singh}, J. Dyn. Syst. Meas. Control 119, No. 3, 412--420 (1997; Zbl 0899.93025) Full Text: DOI