Mohamed Waleed Mehrez Elrafie  <br/><br/>
Dynamic modeling and control of flexible - link manipulators subjected to parametric excitation /  
Mohamed Waleed Mehrez Elrafie ; Supervised Ayman A. Elbadawy 
 - Cairo :   Mohamed Waleed Mehrez Elrafie ,   2010 
 - 118 P. :   charts ;   30cm 
<br/><br/>Thesis (M.Sc.) - German University - Faculty of Postgraduate Studies and Scientific Research - Department of Science in Mechatronics Engineering 
<br/><br/> The dynamics of flexible manipulators is complex due to the flexibility distributed along the mechanical structure . This in return makes an improved control is one of the important needs . This work is focused on two major subject : flexible link manipulators and parametrically excited flexible arm robots . For flexible link manipulators the dynamic equations were derived based on the combined Lagrangian - Assumed modes method