Research Article
Simultaneous Piezoelectric Actuator and Sensor Placement Optimization and Control Design of Manipulators with Flexible Links Using SDRE Method
Table 2
Optimal placement and size of S/A.
| Pairs | | | Modes | | | 1st | 1st and 2nd | 1st, 2nd and 3rd | xk (m) | Lk (m) | xk (m) | Lk (m) | xk (m) | Lk (m) |
| 1 | 0.0000 | 0.200 | 0.0000 | 0.200 | 0.0000 | 0.075 | 2 | 0.2063 | 0.100 | 0.2063 | 0.200 | 0.1269 | 0.125 | 3 | 0.5000 | 0.050 | 0.5000 | 0.050 | 0.3333 | 0.100 |
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