%0 Journal Article
	%A Amer S. Al-Yahmadi and  T.C. Hsia
	%D 2007
	%J International Journal of Electrical and Computer Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 6, 2007
	%T Modeling and Control of Two Manipulators Handling a Flexible Beam
	%U https://publications.waset.org/pdf/957
	%V 6
	%X 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.
	%P 934 - 937