Application of smart material actuators for control of a single-link flexible manipulator

Research output: Chapters, Conference Papers, Creative and Literary Works (RGC: 12, 32, 41, 45)32_Refereed conference paper (with ISBN/ISSN)

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Original languageEnglish
Title of host publicationIFAC Proceedings Volumes
Publication statusPublished - Jul 1999
Externally publishedYes


Title14th IFAC World Congress 1999
Period5 - 9 July 1999


This paper describes a new approach for the use of the smart material,
piezoelectric material of PZT, for control of a single-link flexible manipulator. It
has been investigated using a Lyapunov approach that a combmed scheme of PD
feedback and command voltages applied to segmented PZT actuators which are
bonded to the surface of the flexible link, can effectively control the rigid motion
and at the same time, damp link vibrations. The unique feature of the PZT control
lies in the two: First, it utilizes the linear but angular velocities of particular
points on the link, signals which are readily available. The stability is analyzed
using a virtual joint model (Yoshikawa and Hosoda, 1991). Second, examination
of the actuator placement is based on the analysis of modes shape functions and
their derivatives. Simulation results confirm these theoretical predictions.

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