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Reduced Model Based Control of Two Link Flexible Space Robot

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Figure

Figure 1. Schematic representation of two arm flexible  space robot.
Figure 2. Complete bond graph model of two arm flexible space robot with reduced model based controller
Table 1. Transformer moduli for finding velocities at vari-ous points in bond graph model
Figure 4. (a) Reference trajectory in x direction; (b) Referrajectory in y direction; (c) Tip trajectory in x directiond) Tip trajectory in y direction
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