Rest-to-Rest Trajectory Planning of a Flexible Robot Link with Elastic Joint

A method is presented for planning a rest-to-rest motion in given time and with zero final vibration for a one-link flexible robot with an elastic joint. We combine in the dynamic model a finite-dimensional description of the flexible link with the transmission elasticity between motor and link. A flat output having no zero dynamics is defined for the system and a suitable smooth trajectory is designed for the task. The nominal torque is then obtained by inverse dynamics.