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Dynamic modeling and control of multibody mechanical systems which are structurally flexibleThis 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.
Document ID
19930045341
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Quinn, R. D.
(NASA Lewis Research Center Cleveland, OH, United States)
Chen, J.-L.
(Case Western Reserve Univ. Cleveland, OH, United States)
Date Acquired
August 16, 2013
Publication Date
January 1, 1992
Publication Information
Publication: In: Dynamics and control of large structures; Proceedings of the 8th VPI&SU Symposium, Blacksburg, VA, May 6-8, 1991 (A93-29328 10-63)
Publisher: Virginia Polytechnic Institute and State University
Subject Category
Cybernetics
Accession Number
93A29338
Funding Number(s)
CONTRACT_GRANT: NAG3-1099
Distribution Limits
Public
Copyright
Other

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