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In this paper, verification is done on the control scheme of multi-joint flexible link system using parallel solution scheme of inverse dynamics. The solution scheme is developed using the finite element method, which evaluates the entire system as a continuum by subdividing it into finite elements. It calculates nodal forces that reflect the effects of stiffness and damping of link systems, and converts nodal forces into joint torques. Therefore, the inverse dynamics of link systems can be obtained regardless of member stiffness. Some numerical tests and feed-forward vibration control of 2-joint flexible link system are carried out to confirm the expansibility and flexibility of the proposed scheme.

1P1-B18 Control of Multi-Joint Flexible Link System Using Parallel Solution Scheme of Inverse Dynamics