Research Information System
ASME 1998 International Mechanical Engineering Congress and Exposition, IMECE 1998, California, United States Of America, 15 - 20 November 1998, vol.1998-AD, pp.75-83, (Full Text)
© 1998 American Society of Mechanical Engineers (ASME). All rights reserved.Dynamic modeling and controller design for a flexible four-barmechanism is studied. The fully coupled nonlinear equations of motion are obtained through a constrained Lagrangian approach. Resulting differential-algebraic equations are solved numerically to obtain the systemresponse. A linearized dynamic model is developed which facilitates design of various controllers. The fully coupled nature of the governing equations facilitates control of elastic motion through the input link alone. A simple PD and a robust μ-synthesis controller are shown to be efficient in suppressing the vibrations of the flexible link as well as controlling the rigid body motion.