Modeling and PD control of closed-chain mechanical systems

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. Fir...

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Bibliographic Details
Published inProceedings of 1995 34th IEEE Conference on Decision and Control Vol. 1; pp. 540 - 542 vol.1
Main Author Ghorbel, F.
Format Conference Proceeding
LanguageEnglish
Published IEEE Control Systems Society 1995
Subjects
Control systems
Equations
Gravity
Mechanical engineering
Mechanical systems
PD control
Strain control
Subspace constraints
Transmission line matrix methods
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ISBN0780326857
9780780326859
ISSN0191-2216
DOI10.1109/CDC.1995.478948

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Summary: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.
ISBN:0780326857
9780780326859
ISSN:0191-2216
DOI:10.1109/CDC.1995.478948