Dynamic Modeling and Control of a Flexible Planar Three-Link Mechanism Using Joint and Piezoelectric Actuators

This paper presents a new method of controlling the end effector position and orientation of a flexible planar three-link mechanism. The coupled dynamic model was formulated using a method based on the Udwadia-Kalaba equations of motion for constrained systems. Lyapunov's theory was used to develop a nonlinear control law using piezoelectric actuators and the unconstrained link dynamic models. Numerical simulation was used to demonstrate the system tracking performance of the end effector using a reduced order controller applied to a higher order truth dynamic model.