In this article it is shown how the end effector position of a single flexible-link robot can be directly controlled by the angular position of its joint, so that, trajectory tracking in the end effector of the robot is possible by properly designing a reference trajectory for the joint angle. In order to ensure trajectory tracking of the angular position of the robot joint, a Sliding Modes Con...

Abstract This paper introduces ROmodel, an open source Python package extending the modeling capabilities of algebraic language Pyomo to robust optimization problems. ROmodel helps practitioners transition from deterministic through objects which allow formulating models in close analogy their mathematical formulation. contains a library commonly used uncertainty sets can be generated using mat...