Abstract: In this paper, a controller and observer design is proposed for a class of multi-link manipulators with one flexible link. It is shown that it is possible to transform the state space equations ...

Abstract: The subject of this paper is the feedback linearization of the input-output and input-state equations for a class of multi-link, three degrees-of-freedom manipulators with the last link flexible. ...

Abstract: Force Control involves moving the end-effector of a robot manipulator on the surface of an object while ensuring that no other part of the manipulator collides with the object. Suppose C is ...

Abstract: This paper is concerned with linear distributed parameter systems whose input-output operators are representable in integral form. Two types of control are considered: (i) distributed control which ...

Abstract: In this paper we analyze different models for beam vibrations from the standpoint of designing finite-dimensional controllers to stabilize the beam vibrations. We show that a distributed system ...

Abstract: This paper presents a procedure for deriving dynamic equations for manipulators containing both rigid and flexible links. The equations are derived using Hamilton’s principle, and are nonlinear ...