Koharu Takebayashi

Theoretical Analysis on Observer and Operator Based Nonlinear Tracking Control of a Flexible Arm Using Shape Memory Alloys Actuators

To achieve high-speed operation and reduce energy consumption in manufacturing, lightweight industrial robot arms are highly desirable. However, reducing their weight decreases structural stiffness and induces undesired vibrations. To realize high-speed and high-precision motion, this study proposes an observer and ope...