@inproceedings{1bef4428dced42a4b7b7fa89fe2f6131,
title = "Experiments on rigid body based controllers with input preshaping for a two-link flexible manipulator",
abstract = "Input precompensators in conjunction with linear and nonlinear rigid body based controllers for flexible-link manipulators are considered in this paper. The objective is to preshape the reference input signals. This is accomplished by convolving the reference signal with a sequence of impulses so that a vibration free output is achieved. The time of the application of the impulses is dependent upon the modal frequencies and the amplitudes are functions of the damping of the modal frequencies. Experimental and simulation results on a two-link flexible manipulator show the effectiveness of the advocated controllers.",
author = "Farshad Khorrami and Sandeep Jain and Anthony Tzes",
year = "1992",
doi = "10.23919/acc.1992.4792688",
language = "English (US)",
isbn = "0780302109",
series = "Proceedings of the American Control Conference",
publisher = "Publ by American Automatic Control Council",
pages = "2957--2961",
booktitle = "Proceedings of the American Control Conference",
note = "Proceedings of the 1992 American Control Conference ; Conference date: 24-06-1992 Through 26-06-1992",
}