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To derive an appropriate low-order dynamic model for the design of the controller, the assumed modes method is employed to discretize elastic motion. Then to investigate the interaction between the rigid and elastic motions, a proportional derivative feedback controller combined with a feed-forward-computed torque controller is developed to achieve motion tracking while attenuating the residual vibration. Then the controller is extended to incorporate an input shaper for the further suppression of residual vibration of flexible linkages. Computer simulations are presented as well as experimental results to verify the proposed dynamic model and controller. The input shaping method is verified to be effective in attenuating residual vibration in a highly coupled rigid\u2013flexible PPM. The procedure employed for dynamic modeling and control analysis provides a valuable contribution into the vibration suppression of such a PPM.<\/jats:p>","DOI":"10.1017\/s026357471400023x","type":"journal-article","created":{"date-parts":[[2014,4,1]],"date-time":"2014-04-01T12:41:04Z","timestamp":1396356064000},"page":"1201-1230","source":"Crossref","is-referenced-by-count":28,"title":["Dynamic model and input shaping control of a flexible link parallel manipulator considering the exact boundary conditions"],"prefix":"10.1017","volume":"33","author":[{"given":"Quan","family":"Zhang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"James K.","family":"Mills","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"William L.","family":"Cleghorn","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jiamei","family":"Jin","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhijun","family":"Sun","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2014,4,1]]},"reference":[{"key":"S026357471400023X_ref39","doi-asserted-by":"publisher","DOI":"10.1016\/j.eswa.2010.09.076"},{"key":"S026357471400023X_ref37","doi-asserted-by":"publisher","DOI":"10.1016\/j.jsv.2004.08.035"},{"key":"S026357471400023X_ref29","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2004.825272"},{"key":"S026357471400023X_ref25","doi-asserted-by":"crossref","first-page":"202","DOI":"10.1109\/TRO.2005.858852","article-title":"Integration of saturated PI synchronous control and PD feedback for control of parallel manipulators","volume":"22","author":"Su","year":"2006","journal-title":"IEEE Trans. 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