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In this work Integral Force Feedback and Multiple Positive position Feedback techniques are evaluated in active vibration suppression of a flexible beam. Integral Force Feedback (IFF) and Multiple Positive Position Feedback (MPPF) are independently applied as the controlling inputs to a PZT patch actuator attached to the flexible beam. Finite Element and modal models of the flexible beam are then...
In this article it is shown how the end effector position of a single flexible-link robot can be directly controlled by the angular position of its joint, so that, trajectory tracking in the end effector of the robot is possible by properly designing a reference trajectory for the joint angle. In order to ensure trajectory tracking of the angular position of the robot joint, a Sliding Modes Control...
The model of a single flexible-link robot arm with a payload attached to its tip is represented in a cascade-like fashion using a proper coordinate transformation of the system state. The new system representation makes possible to find a way to assign a convenient dynamics for the overall system to control its tip position by using the joint shaft angular position as a virtual control input for the...
This work describes the controlling of a physical platform and the mathematical model for a single link flexible robot manipulator, whose motion is restricted to an horizontal plane, so that the gravity effects are neglected. The modeling problem is addressed from so-called Euler-Bernoulli beam equation. The design, construction and integration of an experimental set-up developed for this work is...
In this article, a mathematical model for controlling the end tip position of a single flexible link robot arm is presented. The model is derived using a finite modal approximation for the solution of the Euler-Bernoulli beam equation, with the clamped-free boundary conditions. The link is bounded to move on the horizontal plane, so that the gravity effects on the link are neglected. An appropriate...
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