Motion Planning for a Flexible Link Manipulator with Macro-fiber Composite Actuators

The motion planning and feedforward control design is considered for the realization of highly dynamic output trajectories for the deflection and the angle of the tip of a lightweight flexible link manipulator that is actuated by piezoelectric actuators (macro-fiber composite patches). For this, a systematic flatness-based approach based on the distributed parameter model is presented, whose applicability is verified by experimental results of the tracking performance.