Optimal placement of smart actuators for a flexible structure manipulator

This paper addresses the problem of vibration suppression of flexible-link manipulators by utilizing secondary actuation mechanisms, often referred to as smart actuators. The placement of these actuators on a flexible structure is studied from a systems control point of view by performing a nonlinear partial feedback linearization of the the system dynamics and studying the controllability properties of flexural modes. An optimal actuator location is desirable since smart actuators often have limitations in terms of their capability to deliver large power outputs. It is shown that utilization of these actuators can generally result in more robust performance compared to the case where no secondary actuation is used. Simulation results are given for the case of a flexible-link manipulator and comparisons are made between different configurations and locations of secondary actuators. Experimental evaluation of these results is currently under investigation