Modeling and control of two manipulators handling a flexible beam

Amer S. Al-Yahmadi*, T. C. Hsia

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (SciVal)


This paper seeks to develop simple yet practical and efficient control scheme that enables cooperating arms to handle a flexible beam. Specifically the problem studied herein is that of two arms rigidly grasping a flexible beam and such capable of generating forces/moments in such away as to move a flexible beam along a predefined trajectory. The paper develops a sliding mode control law that provides robustness against model imperfection and uncertainty. It also provides an implicit stability proof. Simulation results for two three joint arms moving a flexible beam, are presented to validate the theoretical results. COPYRIGHT

Original languageEnglish
Title of host publicationProceedings - Wec 05
Subtitle of host publicationFourth World Enformatika Conference
EditorsC. Ardil
Number of pages4
Publication statusPublished - 2005
EventWec 05: Fourth World Enformatika Conference - Istanbul, Turkey
Duration: Jun 24 2005Jun 26 2005

Publication series

NameProceedings - Wec 05: Fourth World Enformatika Conference


OtherWec 05: Fourth World Enformatika Conference


  • Cooperative manipulators
  • Sliding mode control

ASJC Scopus subject areas

  • Engineering(all)


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