scholarly journals Towards a compact and computer-adapted formulation of the dynamics and stability of multi rigid body systems

2002 ◽  
Vol 12 (1) ◽  
pp. 64-70 ◽  
Author(s):  
Hooshang Hemami
Keyword(s):  
Nonlinear Systems ◽  
Rigid Body ◽  
Computer Simulations ◽  
Euler Method ◽  
Rigid Bodies ◽  
Lyapunov Methods ◽  
Full Detail ◽  
Stability And Control ◽  
Euler Methods ◽  
And Control

The dynamics of rigid bodies coupled by homonymic and non-homonymic constraints are formulated by the Newton - Euler method - employing a compact notation. The compact notation involves the use of two three by three matrices A and ? and the totality of constraint vector C. The Lagrangian and Newton - Euler methods are related for a one - link rigid body in order to introduce the methodology of the paper in full detail. Stability and control of the resulting nonlinear systems are investigated by the use of Lyapunov methods. Digital computer simulations of typical movements are carried out in order to demonstrate feasibility of the formulation and the approach.

Sensorless Modal Stabilization for Three-Link Robotic Arm With Elastic Wrist Drive Belt

2001 ◽  
Author(s):  
Martin Hosek
Keyword(s):  
Rigid Body ◽  
Robotic Manipulator ◽  
Vibration Damping ◽  
Rigid Body Dynamics ◽  
Limiting Factor ◽  
Direct Drive ◽  
Stability And Control ◽  
Body Dynamics ◽  
Improved Stability ◽  
And Control

Abstract A control system for a three-link direct-drive robotic manipulator with inherent structural flexibilities is presented. The structural flexibilities introduce undesirable vibration modes which may affect operation of the robot motion controller, resulting in destabilization of the closed-loop system. This represents a major limiting factor for implementation of a conventional controller designed solely for the rigid body dynamics of the robotic manipulator. The fundamental idea in the presented approach is to use a composite controller which consists of a trajectory-tracking section designed for the rigid-body dynamics and a vibration-damping compensator added for attenuation of the dominant flexible dynamics. The vibration damping compensator operates on estimated states of the dominant flexible dynamics obtained from a reduced-order state observer. A mechanism is implemented which allows the robotic manipulator to move through or hold in positions where the dominant flexible dynamics is unobservable and uncontrollable. Results of laboratory tests document that the presented approach leads to improved stability and control performance.

scholarly journals Special issue on robust stability and control of large-scale nonlinear systems

2012 ◽  
Vol 24 (1-2) ◽  
pp. 1-2 ◽  
Author(s):  
Sergey N. Dashkovskiy ◽  
Zhong-Ping Jiang ◽  
Björn S. Rüffer
Keyword(s):  
Nonlinear Systems ◽  
Robust Stability ◽  
Large Scale ◽  
Special Issue ◽  
Stability And Control ◽  
And Control

Attitude Stability and Control of the System Coupled with Main Rigid Body, Elastomer and Tip Rigid Body

2012 ◽  
Vol 588-589 ◽  
pp. 256-259
Author(s):  
Jian Guo Xu ◽  
Liang Hui Qu
Keyword(s):  
Rigid Body ◽  
Large Scale ◽  
System Analysis ◽  
Control Law ◽  
Controlled System ◽  
Attitude Stability ◽  
Infinite Dimensional ◽  
Stability And Control ◽  
And Control ◽  
Modern Mathematics

The dynamic model of a class of the system coupled with main rigid body, elastomer and tip rigid body is established. The control law of the system is given, and the attitude stability of the complex controlled system is studied in infinite dimensional functional spaces by means of the modern mathematics and large scale system analysis.

Explicit Poincaré equations of motion for general constrained systems. Part II. Applications to multi-body dynamics and nonlinear control

2007 ◽  
Vol 463 (2082) ◽  
pp. 1435-1446 ◽  
Author(s):  
Firdaus E Udwadia ◽  
Phailaung Phohomsiri
Keyword(s):  
Nonlinear Systems ◽  
Nonlinear Control ◽  
Rigid Body ◽  
Equations Of Motion ◽  
Rigid Bodies ◽  
Constrained Systems ◽  
The Third ◽  
Highly Nonlinear ◽  
Body Dynamics ◽  
Multi Body

The power of the new equations of motion developed in part I of this paper is illustrated using three examples from multi-body dynamics. The first two examples deal with the problem of accurately controlling the orientation of a rigid body, while the third example deals with the synchronization of two rigid bodies so that their relative orientations are ‘locked’ through prescribed dynamical relationships. The ease, simplicity and accuracy with which control of such highly nonlinear systems is achieved are demonstrated.

Sign in / Sign up

Export Citation Format

Share Document