Vibration Control of Manipulators with Flexible Nonprismatic Links Using Piezoelectric Actuators and Sensors
This work presents a tracking control model for a flexible nonprismatic link robotic manipulator using simultaneously motor torques and piezoelectric actuators. The dynamic model of the flexible manipulator is obtained in a closed form through the Lagrange equations. The control uses the motor torqu...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Hindawi Limited
2009-01-01
|
| Series: | Mathematical Problems in Engineering |
| Online Access: | http://dx.doi.org/10.1155/2009/727385 |