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On control and optimization of elastic multilink mechanisms. (English) Zbl 0921.73214

Summary: This paper presents a method for control of nonlinear elastic multilink mechanisms. The associated control law consists of open and closed loop components. The open loop component produces the desired overall rigid body motion, while the closed loop component suppresses the elastic motion relative to rigid body motion. Both the control law and the structural dynamics are referred to an inertial coordinate system. As a consequence, the control forces and control moments are easily simulated in a dynamic finite element analysis program. A series of numerical simulations illustrate the generality of this new method.

MSC:

74M05 Control, switches and devices (“smart materials”) in solid mechanics
74P99 Optimization problems in solid mechanics
70Q05 Control of mechanical systems
70B15 Kinematics of mechanisms and robots
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