Experimental results demonstrated the validity of the

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to select parameter values to achieve a desired behavior. Experimental results demonstrated the validity of the concept and the modeling. For future work it is left to prove that if a manipulator has a simple intrinsic behavior, it will be easier to damp vibration with a controller. The study should consider the control complexity and robustness and determine the effect of interactions between control errors in damping vibration. This paper establishes the idea that the open loop behavior of a flexible manipulator can be designed to be significantly different than conventional systems. Although the system configuration discussed here is simple, the concept can be extended to complex systems. The paper discussed how to derive the governing equations, their solution is the subject of future work. R EFERENCES [1] M. W. Spong, “Modeling and control of elastic joint robots,” J. Dyn. Syst., Meas. Contr. , vol. 109, pp. 310–319, Dec. 1987. [2] F. Matsuno, T. Asano, and Y. Sakawa, “Modeling and quasistatic hybrid position/force control of constrained planar two-link flexible manipulators,” IEEE Trans. Robot. Automat. , vol. 10, pp. 287–97, June 1994. [3] J. Lew and D. Trudnowski, “Vibration control of a micro/macro- manipulator system,” IEEE Trans. Contr. Syst. , vol. 16, pp. 26–31, 1996. [4] K. Yuan and C. Hu, “Nonlinear modeling and partial linearizing control of a slewing timoshenko beam,” J. Dyn. Syst., Meas. Contr. , vol. 118, pp. 75–83, 1996. [5] F. Matsuno, T. Murachi, and Y. Sakawa, “Feedback control of decoupled bending and torsional vibrations of flexible beams,” J. Robot. Syst. , vol. 11, no. 5, pp. 341–353, 1994. [6] D. Wang and M. Vidyasagar, “Passive control of a stiff flexible link,” Int. J. Robot. Res. , vol. 11, pp. 572–578, Dec. 1992. [7] T. Alberts, H. Xia, and Y. Chen, “Dynamic analysis to evaluate viscoelastic passive damping augmentation for the space shuttle remote manipulator system,” J. Dyn. Syst. Meas. Contr. , vol. 114, pp. 468–475, Sept. 1992. [8] T. E. Alberts, S. L. Dickerson, and W. J. Book, “Modeling and control of flexible manipulators,” in Proc. Robot. 9th Int. Conf. , June 1985, vol. 2, pp. 20–45. [9] W. L. Nelson and D. Mitra, “Load estimation and load-adaptive optimal control for a flexible robot arm,” in Proc. IEEE Int. Conf. Robot. Automat. , Apr. 1986, vol. 2, pp. 206–211. [10] G. G. Hastings and W. J. Book, “Experiments in the control of a flexible robot manipulator,” in Proc. 1985 Amer. Contr. Conf. , Boston, MA, July 1985, pp. 45–47. [11] R. H. Cannon, Jr. and E. Schmitz, “Initial experiments on the end-point control of a flexible one-link robot,” Int. J. Robot. Res. , vol. 3, no. 3, pp. 62–75, 1984. [12] H. Asada and K. Youcef-Toumi, “Analysis and design of a direct-drive arm with a five-bar-link parallel drive mechanism,” ASME J. Dyn. Syst., Meas., Contr. , vol. 106, pp. 225–275, 1984. [13] D. C. H. Yang and S. Tzeng, “Simplification and linearization of manipulator dynamics by the design of inertia distribution,” Int. J. Robot. Res. , vol. 5, no. 3, pp. 120–128, 1986. [14] K. Youcef-Toumi and H. Asada, “The design of open-loop manipulator arms with decoupled and configuration-invariant inertia tensors,” ASME J. Dyn. Syst., Meas., Contr. , vol. 109, pp. 268–275, 1987. [15] H. Park and H. Cho, “General design conditions for an ideal robotic manipulator having simple dynamics,” Int. J. Robot. Res. , vol. 10, pp.
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