Abstract
Dynamic modelling and controller design for a flexible four-bar mechanism is studied. The fully coupled non-linear equations of motion are obtained through a constrained Lagrangian approach. Resulting differential-algebraic equations are solved numerically to obtain the system response. A linearized dynamic model is developed which facilitates the design of various controllers. The fully coupled nature of the governing equations facilitates control of elastic motion through the input link alone. A simple PD controller is designed based on a linearized model. These gains are subsequently tuned using the actual model to achieve the desired response. The resultant controller is shown to be efficient in suppressing the vibrations of the flexible link as well as controlling the rigid body motion.
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