Dynamic control of flexing structure

The paper presents a study of a flexible structure that may be applied to a robotic head in building services. The equations that govern the deflections of a beam are well studied. Essentially they are a series of differential equations, which can include nonlinear terms. The beam is assumed to be “thin”: that is its thickness (in the direction of loading) is small in comparison to its length. The two properties of the beam that are important in these equations are: the value of the Young´s Modulus of Elasticity for the material E, and the Second Moment of Area of the cross section of the beam (sectioned perpendicular to its length). The second moment of area is a measure of how the geometry of the beam resists bending