Victor Etxebarria

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This paper presents a robust control scheme for flexible link robotic manipulators, which is based on considering the flexible mechanical structure as a system with slow (rigid) and fast (flexible) modes that can be controlled separately. The rigid dynamics is controlled by means of a robust sliding-mode approach with wellestablished stability properties(More)
Shape memory alloys (SMA) are a special kind of smart materials whose dimensions change because of a temperature-dependent structural phase transition. This property can be used to generate motion or force in electromechanical devices and micromachines. However, their highly nonlinear hysteretical stimulus–response characteristic fundamentally limits the(More)
Shape memory alloys (SMA) are materials whose dimensions can be modified due to a temperature-dependent structural phase transition. This property can be used to generate motion or force in electromechanical devices and micro-machines. However, the accuracy of SMA actuators is severely limited by their highly nonlinear stimulus-response characteristics. In(More)
This paper presents laboratory control experiments on a two-dof flexible link manipulator using optimal and robust methods. Considering the flexible mechanical structure as a system with slow and fast modes, the system dynamics is decomposed into a slow and a fast subsystem that can be controlled separately. Two experimental robust control approaches are(More)
This work presents an experimental study of a robust control scheme for flexible link robotic manipulators, which is based on considering the flexible mechanical structure as a system with slow (rigid) and fast (flexible) modes that can be controlled separately. Two experimental approaches are considered. In a first test an LQR optimal design strategy is(More)