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In this paper, we consider a beam which has a rotational and translational motion. A time-varying partial differential equation and the boundary conditions are derived to describe the lateral deflection of the beam. For multivariable control, an approximated model is also derived by using the assumed mode method. The validity of the approximated model is investigated by the experiment. For different repositional motions, response of the beam is further investigated by computer simulation. Application of the beam to flexible robotic manipulators is discussed with simulation results.

KSPEC (Af-band spectrograph) is an infrared spectrograph designed primarily for spectroscopy in the 2.0-2.5 fim region. It offers two different optical configurations. The first is a cross-dispersed echelle mode designed to cover the atmospheric windows from 1-2.5 fim in one spectral frame of a 256x256 format on a NICMOS-3 HgCdTe detector array. This configuration of the spectrograph provides medium spectral resolution (A/AA~500) for spectral classification work, emission-line detection, and redshift measurements. Alternatively, KSPEC can be equipped with a different spectrograph camera, giving a long-slit, single-order spectrum from 2.05-2.35 fim. The instrument uses a second NICMOS-3 infrared detector array for slit viewing, to facilitate the acquisition of optically invisible objects, to document the slit position, and to monitor it during long spectroscopic integrations. KSPEC does not contain any moving components, making it a very reliable, relatively low-cost instrument that is easy to use.

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