| Inversion control of flexible manipulators is one of the effective techniques that can yield a precise and efficient tip tracking, however, at the expense of limited stability. While it is generally believed that a more precise dynamics model helps in achieving better performance, it is also concluded that model complexity significantly adds difficulty in maintaining controller stability. One previous study showed that a more accurate model by including more flexible modes leads to more instability.;In this thesis, we intend to develop a feasible model in order for the inversion controller to function properly without losing stability. The model considers a single elastic mode, resulting in a simpler set of equations. Using the assumed modes method, we explore the use of shape functions that could lead to a stable inverse dynamics solution. Simulation and experiments are conducted to validate the inverse dynamics solution using the proposed dynamics model. |
