Publication Date:
2019-06-28
Description:
This paper concerns the dynamic modeling and control of multibody, open-chained, structurally flexible, mechanical systems where the bodies are connected by revolute joints. The equations of motion are formulated based on a matrix form of Lagrange's equations for inertial quasi-coordinates. Each body is treated as a substructure of the system. For the purposes of simulation and control, the equations of motion are separated into two sets of equations using a perturbation approach: one to describe large rigid-body motions of the articulated system and the other to describe small linear motions of the bodies about the large motions. A biologically natural control strategy is used for vibration suppression and tracking the prescribed motion.
Keywords:
CYBERNETICS
Type:
In: Dynamics and control of large structures; Proceedings of the 8th VPI&SU Symposium, Blacksburg, VA, May 6-8, 1991 (A93-29328 10-63); p. 119-131.
Format:
text