Subject Scope: Robotics, Materials Science, Electrical Engineering, Computer Science
The aim of this book is to provide insight on the vibration problem in structurally flexible mechanisms, particularly robotic manipulators. The book covers different aspects of flexible structures. It partially includes the fundamental formulations for modeling of a flexible structure actuated with piezoelectric actuators. Mathematical modeling, when possible, as well as expertimental techniques for obtaining models of flexible structures are discussed. Additionally, different control techniques adapted for flexible robotic manipulators equipped with piezoelectric actuators and sensors are covered in the book. Depending on the system, linear and nonlinear control techniques for stablilizng residual vibrations in the system are discussed.