Dynamic singular configuration of flexible manipulators

摘要

In this report, the new concept of the dynamic singular configuration of flexible manipulators is proposed. When we control flexible manipulators using the inverse dynamics method, we need to consider this dynamic singular configuration of flexible manipulators. Without considering it, the control around the dynamic singular configuration may become unstable. As an example, we derive the dynamic singular configuration of a 2 d.o.f. planar flexible manipulator modeled by a virtual passive joint model. The characteristics of the dynamic singular configuration and the dynamic manipulability of flexible manipulators are discussed.