Modeling and PD control of closed-chain mechanical systems

Author

Ghorbel, Fathi

Author_Institution

Dept. of Mech. Eng., Rice Univ., Houston, TX, USA

Volume

1

fYear

1995

Firstpage

540

Abstract

In this paper, we review the structure of a reduced model for closed-chain mechanical systems originally proposed by Ghorbel, Chetelat and Longchamp (1994), and highlight the fact that the model has two special characteristics which make it different from models of open-chain mechanical systems. First, it is defined locally, and second it is an implicit model. We show that closed-chain systems satisfy the property of skew symmetry. We therefore propose PD-based control strategies with full as well as simple gravity compensation and discuss and compare the computational issues involved in the implementation of both controllers

Keywords

compensation; computational complexity; large-scale systems; mechanical engineering; reduced order systems; two-term control; PD control; PD-based control strategies; closed-chain mechanical systems; closed-chain systems; computational issues; gravity compensation; modeling; reduced model; skew symmetry; Control systems; Equations; Gravity; Mechanical engineering; Mechanical systems; PD control; Strain control; Subspace constraints; Transmission line matrix methods;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1995., Proceedings of the 34th IEEE Conference on

ISSN

0191-2216

Print_ISBN

0-7803-2685-7

Type

conf

DOI

10.1109/CDC.1995.478948

Filename

478948