The study deals with the possibilities offered by an accurate dynamic modelling in the improvement of motion control of mobile structures. In fact, when the precision positioning of an industrial robot is called for, or large structures are to be moved, the control action must also take into account the flexibility of the structure. This problem has interested researchers for over fifteen years and various control strategies have been proposed. Optimal control procedures have often been proposed but best results have been obtained when the dynamic modelling of mechanical system has been further examined. This approach allows to simplify control hardware for industrial applications and to improve motion control of advanced applications. On the basis of research experiences carried out by the authors and the results obtained, some implications between dynamic modelling and controlability of mechanical systems will be discussed.
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