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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Khorrami, F. Zeinoun, I. Tome, E. |
| Copyright Year | 1993 |
| Description | Author affiliation: Sch. of Electr. Eng. & Comput. Sci., Polytech. Univ., Brooklyn, NY, USA (Khorrami, F.; Zeinoun, I.; Tome, E.) |
| Abstract | The use of sensors and actuators along the links of flexible-link manipulators is investigated. Piezoelectric ceramics are considered since they may be utilized both as sensors and actuators. Experimental setups have been developed to study modeling issues and control design approaches for flexible link manipulators with embedded (or surface-mounted) piezoceramics. The addition of piezoceramics allows a higher level of control for vibration damping. It is 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. |
| Starting Page | 222 |
| Ending Page | 227 |
| File Size | 600534 |
| Page Count | 6 |
| File Format | |
| ISBN | 0818634502 |
| DOI | 10.1109/ROBOT.1993.292180 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1993-05-02 |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Piezoelectric materials Manipulators Magnetic materials Actuators Control design Damping Educational robots Biological materials Robot sensing systems Ceramics |
| Content Type | Text |
| Resource Type | Article |
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