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
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Translated from Prikladnaya Mekhanika, Vol. 41, No. 12, pp. 107–115, December 2005.
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Zuev, A.L. Control of a flexible manipulator within the framework of the Timoshenko beam model. Int Appl Mech 41, 1418–1425 (2005). https://doi.org/10.1007/s10778-006-0051-x
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DOI: https://doi.org/10.1007/s10778-006-0051-x