Trajectory-tracking control from a multibody system dynamics perspective

Abstract

The development of modern mechatronic systems is often driven by the desire for more efficiency and accuracy. These requirements not only result in more complex system designs, but also in the simultaneous development of improved control strategies. Therefore, control of multibody systems is an active field of research. This contribution gives an overview of recent control-related research from the perspective of the multibody dynamics community. A literature review of the research activity in the journal Multibody System Dynamics is given. Afterwards, the framework of servo-constraints is reviewed, since it is a powerful tool for the computation of a feedforward controller and it is directly developed in the multibody system dynamics community. Thereby, solution strategies for all possible system types, such as differentially flat systems, minimum phase and non-minimum phase systems are discussed. Selected experimental and simulation results are shown to support the theoretical results.

Theoretical study on the influence of structural parameter errors on the end trajectory accuracy of cam manipulators

“…It should be pointed out that the end track error of the cam manipulator is different from the end track error of the multi-joint series manipulator. The accuracy of the latter can be achieved by controlling the output of each joint with advanced control strategy [15]. The cam manipulator obtains the end track and its accuracy through the whole mechanism with the cam as the core component.…”

“…( 16) have similar meanings to those in Eq. (15). The above two equations give the theoretical calculation formula of the maximum shape error caused by the manufacturing error of each structural parameter on the end track of the cam manipulator, which can be used to evaluate the shape error of the end track with the structure shown in Figure 1.…”