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The construction of lightweight manipulators with a larger speed range is one of the major goals in the design of well-behaving industrial robotic arms. However, due to the flexibility involved with link deformation and the complexity of distributed parameter systems, modeling and control of flexible manipulators still remain a major challenge to robotic research. Mechatronic design treats the mechanical,...
Flexible manipulators are distributed systems described by partial-differential equations; therefore their dynamic behavior is of infinite degrees of freedom. From the perspective of control theory, it is impossible to design an infinite dimensional controller. The controlled plant must have a finite dimension thereby requiring less significant terms in the model to be omitted. This causes model uncertainties...
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