Simultaneous control and piezoelectric insert optimization for manipulators with flexible link

this work proposes a tracking control model for a flexible link robotic manipulator using simultaneously motor torques and piezoelectric actuators. the dynamic model of manipulator is obtained in a closed form through the lagrangian approach. the control uses the motor torques for the tracking control of the joints and also to reduce the low frequency vibration induced in the manipulator links. the stability of this control is guaranteed by the lyapunov stability theory. piezoelectric actuators and sensors are added for controlling the high frequency vibrations beyond range of motor torque control. additionally, this work introduces a formulation for simultaneous control and piezoelectric inserts geometry optimization through the maximization of the control action dissipated energy. simulations on matlab/simulink are used to verify the efficiency of the control model.