@article{(Open Science Index):https://publications.waset.org/pdf/957, title = {Modeling and Control of Two Manipulators Handling a Flexible Beam}, author = {Amer S. Al-Yahmadi and T.C. Hsia}, country = {}, institution = {}, abstract = {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.}, journal = {International Journal of Electrical and Computer Engineering}, volume = {1}, number = {6}, year = {2007}, pages = {934 - 937}, ee = {https://publications.waset.org/pdf/957}, url = {https://publications.waset.org/vol/6}, bibsource = {https://publications.waset.org/}, issn = {eISSN: 1307-6892}, publisher = {World Academy of Science, Engineering and Technology}, index = {Open Science Index 6, 2007}, }