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The Quantitative Feedback Theory idea is an interesting concept in the scope of robust controller design and represents an alternative way to the μ-synthesis. Particularly, it allows to obtain controllers less conservative than other control design methods like those based on H∞ optimisation. Nevertheless the design of automatic loop shaping algorithms is a complex question and remains an open topic...
In this paper, a new stopping approach used for residual vibration reduction of slightly flexible robot arms is presented. This technique, using two steps braking, is proposed for a wide class of mechatronic applications with structural flexibilities that demand high dynamic performance. This new method was validated experimentally on a slightly flexible robot used for medical imaging.
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