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International Applied Mechanics

, Volume 41, Issue 12, pp 1418–1425 | Cite as

Control of a flexible manipulator within the framework of the Timoshenko beam model

  • A. L. Zuev
Article
  • 60 Downloads

Abstract

A study is made of a controllable mechanical system in the form of a Timoshenko beam with a weight. The system models a flexible-link robot manipulator. A Galerkin approximation based on the solutions of the corresponding Sturm-Liouville problem is constructed for the partial differential equations of motion. Conditions of local controllability of the Galerkin approximation in the neighborhood of the system’s equilibrium state are established. The stabilizability of the equilibrium state is proved, and an explicit scheme for feedback control design is proposed

Keywords

controllable mechanical system Timoshenko beam flexible-link robot manipulator Galerkin approximation local controllability condition stabilizability of equilibrium state explicit scheme for feedback control design 

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Copyright information

© Springer Science+Business Media, Inc. 2005

Authors and Affiliations

  • A. L. Zuev
    • 1
  1. 1.Institute of Applied Mathematics and MechanicsNational Academy of Sciences of UkraineDonetsk

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