The problem of controlling a one link flexible arm is considered in this paper. An assumed mode method is adopted to derive the dynamic equations of motion; the system is then transformed to singularly perturbed form. An ...

Based on a model reference adaptive control approach, a robust controller for a one link flexible arm moving along a pre-defined trajectory is proposed. In order to satisfy the perfect model following conditions, the model ...

This paper presents a systematic method to symbolically derive the full nonlinear dynamic equations of motion of Multi-link flexible manipulators. Lagrange's-Assumed Modes method is used for the dynamic modelling and ...

A robust tracking controller for a one-link flexible arm based on a model reference adaptive control approach is proposed. In order to satisfy the model matching conditions, the reference model is chosen to be the optimally ...

The control problem for robotic manipulators with flexible links is considered in this paper. The dynamic equations of motion can be derived by means of a recently developed Lagrangian-assumed modes method. In the case ...

The control of lightweight flexible manipulators moving along predefined paths is the focus of this work. The flexible manipulator dynamics is derived on the basis of a Lagrangian-assumed modes method. The full order ...

This paper presents a systematic method to symbolically derive the full nonlinear dynamic equations of motion of Multi-link flexible manipulators. Lagrange's-Assumed Modes method is used for the dynamic modelling and ...