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.

PairsModes
1st1st and 2nd1st, 2nd and 3rd
xk  (m)Lk  (m)xk  (m)Lk  (m)xk  (m)Lk  (m)

10.00000.2000.00000.2000.00000.075
20.20630.1000.20630.2000.12690.125
30.50000.0500.50000.0500.33330.100