%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