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

Table 3

Comparison of the experimental results.

	Peak value after joint motion (V)	Settling time after joint motion (s)
Quintic polynomial trajectory	>10	9
Optimal trajectory without PZT control	1.28	3.8
Optimal trajectory with PZT control	0.72	2.3