Inverse Dynamics-based Control with Parameter Adaptation for Tip-tracking of Flexible Link Robot

Compare to rigid manipulators, flexible link manipulators (FLM) have the advantage of being lightweight and low energy consumption, which makes them have increasing demands across the industrial and aerospace world. Inverse dynamics-based control has been applied widely in rigid manipulators. However, the natural undamped behavior of FLM's internal dynamics hinders the direct use of inverse dynami...