A CONSIDERATION ON A METHOD TO DETERMINE THE MEMBER TO BE INITIALLY STRESSED IN BEAM STRING STRUCTURES

Abstract

The inethoCl to arrange the actuators on objective structures has to be discussed to effectively reduge the control fbrces or energy In this paper a method to determine the members to be con trolled as we as the arrangement position of actuator8 is proposed based on the contro ability gramian matriX for beam string structures The controllability gramian matrb which is used fdr evaluating the performance of robot arms in rebotics can be also defined beam string structures The determinant of the gramian matriX as performance criteria takes a minimum value when the matrix is singular When the gramian matrix is non -si gular the systeln is cofitrellable and the fo es of actuators are determined by us g mini um ner solutions of genefal simultaneous l ear equatiens The availabil ty of the present method shown by d g optimum locatiens fbr actu tors beam string structures Ke words beam stn ' ng sttuCture oPtimum tocati n contr ' itity gramian matrix C ntr llabitity eUips id minimum n rm solutien '