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The demand on more efficient structures has increased the use of lightweight flexible structures in industrial applications. The main objective of this work is to suppress vibration at the free end of a single-link rotational robot subjected to fast movements. The control architecture is made up of two independent control loops; the first loop is employed(More)
In many applications, the use of slender and light flexible structures has increased due to the requirement of more efficient structures. The main objective of this work is to suppress vibration at the free end of a single-link rotational robot subjected to a harmonic disturbance located near to the tip of the link The control architecture is made up of two(More)
In many applications, the use of slender and light flexible structures has increased due to the requirement of more efficient structures. One objective of this work is to generate a model of a two-flexible-link robot for control purposes, which includes rotational actuator, piezoelectric actuators, different kind of sensors (acceleration and deformation).(More)
In many applications, the use of slender and light flexible structures has increased due to the requirement of more efficient structures. One objective of this work is to generate a model of a single-link flexible robot, which includes rotational actuator, piezoelectric actuators, different kind of sensors, acceleration and deformation. The model is(More)
An indirect adaptive control strategy is developed to deal with self-excited torsional oscillations in drilling rig setups caused by friction during cutting action of the drill bit. The main contribution is the use of an online parameter estimator i.e. a state augmented continuous-discrete extended Kalman filter which is used to estimate parameters of the(More)
The use of slender and light flexible structures has increased in many applications, due to the requirement of more efficient structures. One objective of this work is to generate approximated models of two flexible-link robots for control purposes, which include rotational actuators, piezoelectric actuators, and different kinds of sensors (acceleration and(More)
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