✦ LIBER ✦

The control of the motion of a pantograph

✍ Scribed by Y. Yavin

Book ID: 104351689
Publisher: Elsevier Science
Year: 1998
Tongue: English
Weight: 606 KB
Volume: 28
Category: Article
ISSN: 0895-7177
DOI: 10.1016/s0895-7177(98)00088-0

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✦ Synopsis

Thii work deals with the modelling and control of the motion of a constrained multibody system which is a flexible version of a pantograph. The system is corn-of four uniform links, two torque actuated joints and three passive joints. All the links are moving in the horizontal plane, see Figure 1. In the case of a pantograph, the joint pg is attached to the point ~4. See [l] for the description and equations of motion of a pantograph. Given two configurations A and B of the system, and a time interval [O,tf]. The problem dealt with in thii work is to compute the control torques for each of the actuated joints such that the system will move during [O,t,] from configuration A to configuration B subject to various constraints on the motion.

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