The control of flexible systems is a large and important field of study. Unwanted transient
deflection and residual vibration are detrimental to many systems ranging from nano …

In this paper, we propose a new complete closed-form formula for asymmetric motion
profiles of long, medium, and short distances, which enables easy manipulation of jerks in …

In this paper a novel adaptive-sliding mode control design is developed for trajectory
tracking of a class of flexible robots. This control design uses a force/position controller for …

Purpose The purpose of this paper is to propose a new acceleration/deceleration (acc/dec)
algorithm for motion profiles. The motion efficiency, flexibility of the motion profiles and the …

Input shaping is an effective means of eliminating vibration in many types of flexible systems.
This paper discusses how input shaper performance is affected by a fixed acceleration limit …

A closed form solution to Optimum Dynamic Design (ODD) of a flexible link Robotic
Manipulator is derived considering the link to be the Euler–Bernoulli beam. The Finite …

Shaping command input is performed for reducing residual vibrations in motion control of
dynamical structures. System inputs are changed so that the structure reaches to planned …

In this paper, the nonlinear disturbance observer (NDO) is presented for serial flexible joint
robot manipulators (FJM). To this end, a planar robot manipulator with n flexible joints is …

This paper proposes a method for reducing vibrations in flexible systems by using the input
shaping. A new input shaper technique based on Pulse Width Modulation (PWM) is used to …

Simulation programs are developed in Ansys Mechanical APDL platform. With these
programs, it is aimed to develop an experiment environment that will enable creating a …