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Optimal Trajectory Planning and Linear Velocity Feedback Control of a Flexible Piezoelectric Manipulator for Vibration Suppression
Shock and Vibration
Trajectory planning is an effective feed-forward control technology for vibration suppression of flexible manipulators. However, the inherent drawback makes this strategy inefficient when dealing with modeling errors and disturbances. An optimal trajectory planning approach is proposed and applied to a flexible piezoelectric manipulator system in this paper, which is a combination of feed-forward trajectory planning method and feedback control of piezoelectric actuators. Specifically, the jointdoi:10.1155/2015/952708 fatcat:jsajtobsozdxblzhf3wlyrdajq