This work investigates the use of energy shaping control to reduce deflection in slender beams with tip load and actuation at the base. The ultimate goal of this research is a buckling avoidance strategy for robotic-assisted needle insertion. To this end, the rigid-link model of a flexible beam actuated at the base and subject to tip load is proposed, and an energy shaping approach is employed to construct a nonlinear controller that accounts for external forces. A comparative simulation study highlights the benefits of the proposed approach over a linear control baseline and a simplified nonlinear control.
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