A PZT actuator control of a single-link flexible manipulator based on linear velocity feedback and actuator placement

This paper describes an approach for the use of smart materials, specifically, piezoelectric materials (PZT), in control of a single-link flexible manipulator. It is investigated by a Lyapunov approach that a combined scheme of PD feedback and command voltages applied to segmented PZT actuators, which are bonded to the surface of the flexible link, can effectively control the rigid body motion and at the same time, damp link vibrations. The unique features of the proposed PZT actuator control are twofolds: First, it utilizes linear in contrast to angular velocities of particular points on the link, signals which are readily available. Second, the actuator placement is examined based on the analysis of mode shape functions. Stability of the system with the proposed PZT actuator control is analyzed using a virtual joint model. Simulation and experimental results confirm these theoretical predictions. (C) 2003 Elsevier Ltd. All rights reserved.