Experimental results on active control of flexible-link manipulators with embedded piezoceramics

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