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These links incorporate adaptive materials in their construction, with the goal of controlling and attenuating vibrations that may occur during maneuvers due to high mechanical flexibility. The type of link under consideration has a tubular shape and incorporates piezoelectric actuators for simultaneous vibration control of bending and torsion modes. The design study addresses actuator placement and direction and is based on the directional properties of macro-fiber composite actuators. A vibration controller is also successfully designed and implemented. The experimental results validate the link and controller design and the directional actuation approach to vibration control of tubular structures. <\/jats:p>","DOI":"10.1177\/1045389x12451194","type":"journal-article","created":{"date-parts":[[2012,6,23]],"date-time":"2012-06-23T04:13:29Z","timestamp":1340424809000},"page":"1741-1757","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":4,"title":["Design and experimental control of an active\u2013flexible tubular manipulator link"],"prefix":"10.1177","volume":"23","author":[{"given":"Jo\u00e3o C P","family":"Reis","sequence":"first","affiliation":[{"name":"IDMEC\/Instituto Superior T\u00e9cnico, Technical University of Lisbon, Lisboa, Portugal"}]},{"given":"Jos\u00e9 S\u00e1 da","family":"Costa","sequence":"additional","affiliation":[{"name":"IDMEC\/Instituto Superior T\u00e9cnico, Technical University of Lisbon, Lisboa, Portugal"}]}],"member":"179","published-online":{"date-parts":[[2012,6,22]]},"reference":[{"key":"bibr1-1045389X12451194","doi-asserted-by":"publisher","DOI":"10.2514\/3.20029"},{"key":"bibr2-1045389X12451194","first-page":"217","volume-title":"Proceedings of the sixth VPI&SU\/AIAA symposium on dynamics and control of large structures","author":"Baz A","year":"1987"},{"key":"bibr3-1045389X12451194","doi-asserted-by":"publisher","DOI":"10.1088\/0964-1726\/9\/3\/313"},{"key":"bibr4-1045389X12451194","doi-asserted-by":"publisher","DOI":"10.1177\/1045389X9500600305"},{"key":"bibr5-1045389X12451194","doi-asserted-by":"publisher","DOI":"10.2514\/6.2003-1803"},{"key":"bibr6-1045389X12451194","doi-asserted-by":"publisher","DOI":"10.2514\/3.11832"},{"key":"bibr7-1045389X12451194","doi-asserted-by":"publisher","DOI":"10.1088\/0964-1726\/8\/3\/306"},{"key":"bibr8-1045389X12451194","doi-asserted-by":"publisher","DOI":"10.1016\/j.compstruct.2005.05.010"},{"key":"bibr9-1045389X12451194","doi-asserted-by":"publisher","DOI":"10.2514\/3.9792"},{"volume-title":"Engineering Mechanics of Composite Materials","year":"1994","author":"Daniel IM","key":"bibr10-1045389X12451194"},{"key":"bibr11-1045389X12451194","doi-asserted-by":"publisher","DOI":"10.1006\/jsvi.1996.0003"},{"volume-title":"Proceedings of III ECCOMAS thematic conference on smart structures and materials","year":"2007","author":"Deraemaeker A","key":"bibr12-1045389X12451194"},{"key":"bibr13-1045389X12451194","doi-asserted-by":"publisher","DOI":"10.2514\/3.10451"},{"key":"bibr14-1045389X12451194","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2008.09.005"},{"key":"bibr15-1045389X12451194","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2002.802727"},{"key":"bibr16-1045389X12451194","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1993.292180"},{"key":"bibr17-1045389X12451194","doi-asserted-by":"publisher","DOI":"10.1006\/jsvi.1996.0104"},{"volume-title":"Optimal Control","year":"1995","author":"Lewis F","key":"bibr18-1045389X12451194"},{"key":"bibr19-1045389X12451194","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2004.825001"},{"key":"bibr20-1045389X12451194","first-page":"252","volume-title":"Proceedings of SPIE","volume":"5762","author":"Neugebauer R","year":"2005"},{"key":"bibr21-1045389X12451194","doi-asserted-by":"publisher","DOI":"10.1106\/104538902022725"},{"key":"bibr22-1045389X12451194","doi-asserted-by":"publisher","DOI":"10.1002\/stc.4300030110"},{"key":"bibr23-1045389X12451194","doi-asserted-by":"publisher","DOI":"10.1177\/1045389X9000100302"},{"key":"bibr24-1045389X12451194","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.1999.832856"},{"key":"bibr25-1045389X12451194","unstructured":"Reis J (2010) Estudo e Desenvolvimento de um Elo Inteligente para Robos Manipuladores. 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