Feedback Stabilization of a System of Rigid Bodies with a Flexible Beam
Dynamical models of flexible-link robot manipulators are generally described by a set of coupled ordinary and partial differential equations, which gives rise to series of mathematical control problems in infinite dimensional spaces [1, 2, 3, 7]. However, finite dimensional approximate models obtained by the assumed modes and finite elements methods are used more frequently for solving the motion planning and stabilization problems . It should be emphasized that the majority of publications in this area is concentrated on planar manipulator models with a free end. To study spatial manipulators with a tip mass, the mathematical model that describes the motion of a multi-link manipulator under the action of gravity and controls (torques and forces) was proposed in .
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