... motions in the state space of such a highly nonlinear system, in spite of the absence of some actuators in the arm, is answered in this paper. We show that, by appropriate inertia distribution of the links and addition of torsion springs at the joints, a range of underactuated designs is possible, where...

... and torsional dynamics of the drive assembly whose parameters are identified. A mode-compensating disturbance adaptive discrete-time sliding mode controller is then designed to actively suppress the vibrations of the drive. However, it is shown theoretically that, without using minimum tracking error filters...

...N. Mihajlovic´; A. A. van Veggel; N. van de Wouw; H. Nijmeijer In this paper, we aim for an improved understanding of the causes for torsional vibrations that appear in rotary drilling systems used for the exploration of oil and gas. For this purpose, an experimental drill-string setup...

...P. Belli; S. Bittanti; A. De Marco Hot rolling mills suffer from severe torsional vibrations in particular working conditions (thin thickness). These vibrations are often explained as the result of an exogenous disturbance amplified by a resonance effect. In this paper, we show...