@inproceedings{b201795c28d1441bb0ae097badf5ef98,
title = "Experimental results on active control of flexible-link manipulators with embedded piezoceramics",
abstract = "Much effort has been reported in end-effector positioning of flexible-link manipulators through actuation from the motors at the joints. In this paper, utilization of sensors and actuators along the links are investigated. Specifically, piezoelectric ceramics are considered since they may be utilized both as sensors and actuators. Furthermore, a single piece of the piezoceramic can provide simultaneous sensing and actuation. Experimental setups have been developed at the Control/Robotics Research Laboratory (CRRL) to study modeling issues and control design approaches for flexible link manipulators with embedded (or surface-mounted) piezoceramics. The addition of piezoceramics will allow a higher level of control for vibration damping. It will be shown that piezoceramics substantially reduce the vibration of the arm and hence improve the end-effector positioning of the manipulator. The advocated approach for control design is decentralized frequency shaping.",
author = "Farshad Khorrami and Issam Zeinoun and Eric Tome",
year = "1993",
language = "English (US)",
isbn = "0818634529",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Publ by IEEE",
pages = "222--227",
booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",
note = "Proceedings of the IEEE International Conference on Robotics and Automation ; Conference date: 02-05-1993 Through 06-05-1993",
}