A Non-Time Based Approach for the Simultaneous Rigid-Body Motion and Vibration Control of Flexible-Link Mechanisms

摘要

This paper introduces a non-time based strategy for the simultaneous motion and vibration control of flexible link mechanisms. The control action is exerted by taking advantage of the coupling between rigid-body and elastic motion and by computing a delayed time on the basis of the measured vibrations. Such a delayed time is employed to compute the current reference input and is aimed at introducing an "equivalent damping force" into the system. The theory proposed is validated by applying it to a four-bar planar linkage with flexible links.