Integrated Design and PD Control of High-Speed Closed-loop Mechanisms

[+] Author and Article Information
F. X. Wu

Division of Biomedical Engineering, University of Saskatchewan, Saskatoon, SK S7N 5A9, Canada

W. J. Zhang

Department of Mechanical Engineering, University of Saskatchewan, Saskatoon, SK S7N 5A9, Canadae-mail: chris_zhang@engr.usask.ca

Q. Li

School of Mechanical and Production Engineering, Nanyang Technological University, 50 Nanyang Ave., Singapore

P. R. Ouyang

Department of Mechanical Engineering, University of Saskatchewan, Saskatoon, SK S7N 5A9, Canada

J. Dyn. Sys., Meas., Control 124(4), 522-528 (Dec 16, 2002) (7 pages) doi:10.1115/1.1513179 History: Received November 01, 2000; Revised April 01, 2002; Online December 16, 2002
Copyright © 2002 by ASME
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Grahic Jump Location
Structure of a four-bar-link mechanism
Grahic Jump Location
Tracking performance of the four-bar-link mechanism with the PD controller under two cases: (a) Profiles of angular displacement tracking errors, (b) profiles of angular velocity tracking errors, (c) responses of angular velocities, and (d) profiles of torque (dotted line: for case 1, only with CIPE; solid line: for case 2, with both CIPE and PCIGI)



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