Optimal Trajectory Planning and Linear Velocity Feedback Control of a Flexible Piezoelectric Manipulator for Vibration Suppression

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/sv/volume-2015/952708/figures/952708.fig.007a.svgz" name="952708.fig.007a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Angular displacement</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/sv/volume-2015/952708/figures/952708.fig.007b.svgz" name="952708.fig.007b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Angular velocity</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/sv/volume-2015/952708/figures/952708.fig.007c.svgz" name="952708.fig.007c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Angular acceleration</td></tr><tr class="fig-image" id="d"><td><object data="https://static.hindawi.com/articles/sv/volume-2015/952708/figures/952708.fig.007d.svgz" name="952708.fig.007d" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(d) </b>Vibration response of the link</td></tr></table>

<div>Experimental results of the link along the quintic polynomial trajectory.</div>

Shock and Vibration

fig7

Figure 7

Figure 7: Optimal Trajectory Planning and Linear Velocity Feedback Control of a Flexible Piezoelectric Manipulator for Vibration Suppression 