Ebook: Dynamics of Controlled Mechanical Systems: IUTAM/IFAC Symposium, Zurich, Switzerland, May 30–June 3, 1988

Many mechanical systems are actively controlled in order to improve their dynamic performance. Examples are elastic satellites, active vehicle suspension systems, robots, magnetic bearings, automatic machine tools. Problems that are typical for mechanical systems arise in the following areas: - Modeling the mechanical system in such a way that the model is suitable for control design - Designing multivariable controls to be robust with respect to parameter variations and uncertainties in system order of elastic structures - Fast real-time signal processing - Generating high dynamic control forces and providing the necessary control power - Reliability and safety concepts, taking into account the growing role of software within the system The objective of the Symposium has been to present methods that contribute to the solutions of such problems. Typical examples are demonstrating the state of the art It intends to evalua~ the limits of performance that can be achieved by controlling the dynamics, and it should point to gaps in present research and areas for future research. Mainly, it has brought together leading experts from quite different areas presenting their points of view. The International Union of Theoretical and Applied Mechanics (lUTAM) has initiated and sponsored, in cooperation with the International Federation of Automatic Control (IF AC), this Symposium on Dynamics of Controlled Mechanical Systems, held at the Swiss Federal Institute of Technology (ETH) in Zurich, Switzerland, May 3D-June 3, 1988.

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This book contains selected contributions to a symposium whose aim was to present methods which contribute to the solutions of typical problems with mechanical systems. The limits of performance that can be achieved by controlling dynamics were evaluated, and gaps in present research and areas for future research were indicated. Leading experts from quite different areas presented their points of view.

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This book contains selected contributions to a symposium whose aim was to present methods which contribute to the solutions of typical problems with mechanical systems. The limits of performance that can be achieved by controlling dynamics were evaluated, and gaps in present research and areas for future research were indicated. Leading experts from quite different areas presented their points of view.
Content:
Front Matter....Pages I-XIV
Front Matter....Pages 1-1
Model Verification by Experiments with Finite Effect Sequences (FES)....Pages 3-14
Modeling the Dynamics of a Complete Vehicle with Nonlinear Wheel Suspension Kinematics and Elastic Hinges....Pages 15-28
Computer Aided Formulation of Equations of Motion....Pages 29-36
State Equations of Motion for Flexible Bodies in Terms of Quasi-Coordinates....Pages 37-48
Front Matter....Pages 49-49
Simulation, Test and Diagnostics Integrated for a Safety Design of Magnetic Bearing Prototypes....Pages 51-62
Hardware - Software Interfaces for Dynamical Simulations....Pages 63-74
Front Matter....Pages 75-75
Towards Graphical Programming in Control of Mechanical Systems....Pages 77-90
Graphical Verification of Complex Multibody Motion in Space Applications....Pages 91-104
Front Matter....Pages 105-105
Active Vibration Control of a Cantilever Beam by a Piezoelectric Ceramic Actuator....Pages 107-117
Fiber Connected Tug of War....Pages 119-133
Structure of Magnetic Bearing Control System for Compensating Unbalance Force....Pages 135-146
Front Matter....Pages 147-147
Placing Dynamic Sensors and Actuators on Flexible Space Structures....Pages 149-160
Front Matter....Pages 161-161
A Simple Active Controller to Supress Helicopter Air Resonance in Hover and Forward Flight....Pages 163-180
Active Vibration Control for Flexible Space Environment Use Manipulators....Pages 181-192
Orientation of Large Orbital Stations....Pages 193-205
Attitude Stability of a Flexible Asymmetric Dual Spin Spacecraft....Pages 207-217
Front Matter....Pages 219-219
Robot Control in Cartesian Space with Adaptive Nonlinear Dynamics Compensation....Pages 221-234
Modeling and Control of Elastic Robot Arm with Prismatic Joint....Pages 235-245
A Decentralized and Robust Controller for Robots....Pages 247-258
Isotropic and Uniform Inertial and Acceleration Characteristics: Issues in the Design of Redundant Manipulators....Pages 259-270
Front Matter....Pages 219-219
Effect of Sampling Rates on the Performance of Model-Based Control Schemes....Pages 271-284
Modeling and Control of a Flexible Robot Link....Pages 285-296
Decomposed Parameter Identification Approach of Robot Dynamics....Pages 297-308
Dynamic Behavior of a Flexible Robotic Manipulator....Pages 309-320
Front Matter....Pages 321-321
Control of an Active Suspension System for a Wheeled Vehicle....Pages 323-334
Dynamic Modeling of High Speed Ground Transportation Vehicles for Control Design and Performance Evaluation....Pages 335-350
Trajectory Planning and Motion Control of Mobile Robots....Pages 351-366
Researches of the Biped Robot in Japan....Pages 367-377

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This book contains selected contributions to a symposium whose aim was to present methods which contribute to the solutions of typical problems with mechanical systems. The limits of performance that can be achieved by controlling dynamics were evaluated, and gaps in present research and areas for future research were indicated. Leading experts from quite different areas presented their points of view.
Content:
Front Matter....Pages I-XIV
Front Matter....Pages 1-1
Model Verification by Experiments with Finite Effect Sequences (FES)....Pages 3-14
Modeling the Dynamics of a Complete Vehicle with Nonlinear Wheel Suspension Kinematics and Elastic Hinges....Pages 15-28
Computer Aided Formulation of Equations of Motion....Pages 29-36
State Equations of Motion for Flexible Bodies in Terms of Quasi-Coordinates....Pages 37-48
Front Matter....Pages 49-49
Simulation, Test and Diagnostics Integrated for a Safety Design of Magnetic Bearing Prototypes....Pages 51-62
Hardware - Software Interfaces for Dynamical Simulations....Pages 63-74
Front Matter....Pages 75-75
Towards Graphical Programming in Control of Mechanical Systems....Pages 77-90
Graphical Verification of Complex Multibody Motion in Space Applications....Pages 91-104
Front Matter....Pages 105-105
Active Vibration Control of a Cantilever Beam by a Piezoelectric Ceramic Actuator....Pages 107-117
Fiber Connected Tug of War....Pages 119-133
Structure of Magnetic Bearing Control System for Compensating Unbalance Force....Pages 135-146
Front Matter....Pages 147-147
Placing Dynamic Sensors and Actuators on Flexible Space Structures....Pages 149-160
Front Matter....Pages 161-161
A Simple Active Controller to Supress Helicopter Air Resonance in Hover and Forward Flight....Pages 163-180
Active Vibration Control for Flexible Space Environment Use Manipulators....Pages 181-192
Orientation of Large Orbital Stations....Pages 193-205
Attitude Stability of a Flexible Asymmetric Dual Spin Spacecraft....Pages 207-217
Front Matter....Pages 219-219
Robot Control in Cartesian Space with Adaptive Nonlinear Dynamics Compensation....Pages 221-234
Modeling and Control of Elastic Robot Arm with Prismatic Joint....Pages 235-245
A Decentralized and Robust Controller for Robots....Pages 247-258
Isotropic and Uniform Inertial and Acceleration Characteristics: Issues in the Design of Redundant Manipulators....Pages 259-270
Front Matter....Pages 219-219
Effect of Sampling Rates on the Performance of Model-Based Control Schemes....Pages 271-284
Modeling and Control of a Flexible Robot Link....Pages 285-296
Decomposed Parameter Identification Approach of Robot Dynamics....Pages 297-308
Dynamic Behavior of a Flexible Robotic Manipulator....Pages 309-320
Front Matter....Pages 321-321
Control of an Active Suspension System for a Wheeled Vehicle....Pages 323-334
Dynamic Modeling of High Speed Ground Transportation Vehicles for Control Design and Performance Evaluation....Pages 335-350
Trajectory Planning and Motion Control of Mobile Robots....Pages 351-366
Researches of the Biped Robot in Japan....Pages 367-377
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