Simulation of three-dimensional maneuver and control of flexible multibody systems

A variety of engineering systems, such as flexible robots, can be modeled as chains of hinge-connected flexible multibody systems. A problem of particular interest is the large-angle maneuvering and vibration control of such systems. The state equations describing such problems are nonlinear, with the rigid-body motions conveniently expressed in terms of quasi-coordinates. The controls are designed by the Liapunov direct method in conjunction with direct feedback control. The approach is demonstrated by means of a computer simulation of the three-dimensional maneuver and vibration control of a robot consisting of three flexible links and a rigid end effector.