Abstract
In this study, a systematic finite element transfer matrix scheme for the modal analysis of integrated multilink control systems with flexible links and joints is presented. This proposed scheme treats the control signals as parts of physical degrees of freedom of the system and then modifies the transfer matrices considering the coupling and noncoupling characteristics between the electric and mechanical interfaces. Since it is systematic, the effects of interaction between control and structure can be considered, and reference control signals can be directly input to the system without calculating equivalent static actuating torques. An example of a twolink/two-joint control system is given to illustrate its availability in sensitivity analysis of both structural and control design parameters by a systematic manner. The illustrated example also shows its capability in the application of both collocated and noncollocated control simulations.
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