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

Table 1

Parameters of the flexible manipulator system.

Parameter	Flexible link	PZT actuator
Material	Epoxy	PZT-5
Length (mm)	620.0	40.0
Width (mm)	30.0	10.0
Thickness (mm)	3.0	0.8
Young’s modulus (Gpa)	34.6	117.0
Density (Kg/m^3)	1840.0	7500.0
PZT coefficient (C/N)	N/A