OPEN-LOOP FLEXIBILITY CONTROL IN MULTIBODY SYSTEMS DYNAMICS

In this paper inverse dynamics of flexible multibody systems for the r ealization of the prescribed motion tasks is formulated. The number of actuators is equal to the dimension of the task space which is usuall y equal to the rigid body degrees of freedom. Since the control forces and the prescribed accelerations are noncausal due to the elastic med ia, the dynamical equation set of the system becomes singular. To avoi d the singularities in the numerical solution higher order derivative information are utilized. The conditions for the existence of solution and for the control force directions are also presented. A flexible m anipulator is analyzed to illustrate the methods proposed.