{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,21]],"date-time":"2026-04-21T23:07:44Z","timestamp":1776812864804,"version":"3.51.2"},"reference-count":12,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":7345,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1987,2]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>A structural finite\u2010element technique based on Bernoulli\u2010Euler beam theory is presented which will permit the finding of the torques (or forces) that are necessary to apply at one end of a flexible link to produce a desired motion at the other end. This technique is suitable for the open loop control of the tip motion. It may also provide a good control law for feedback control. The finite\u2010element method is used to discretize the equations of motion. This method has a major advantage in the fact that different material properties and boundary conditions like hubs, tip loads, changes in cross sections, etc., can be handled in a very simple and straightforward manner. The resulting differential equations are integrated via the frequency domain. This allows for the expansion of the desired end motion into its harmonic components and helps to visualize the complex wave propagation nature of the problem. The performance of the proposed technique is illustrated in the solution of a practical example. Results point out the potential that this technique has in the study of the dynamics and control not only of flexible robots, but also of any other flexible mechanisms like those used in biomechanics, where high precision at the tip of very light flexible arms is required.<\/jats:p>","DOI":"10.1002\/rob.4620040106","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T05:46:17Z","timestamp":1183700777000},"page":"63-75","source":"Crossref","is-referenced-by-count":254,"title":["A finite\u2010element approach to control the end\u2010point motion of a single\u2010link flexible robot"],"prefix":"10.1002","volume":"4","author":[{"given":"Eduardo","family":"Bayo","sequence":"first","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3267343"},{"key":"e_1_2_1_3_2","unstructured":"L. W.Chang \u201cDynamic Analysis of Robotic Manipulators with Flexible Links \u201d Ph.D. thesis Purdue University 1984."},{"key":"e_1_2_1_4_2","first-page":"27","volume-title":"Advanced Software in Robotics","author":"Geradin M.","year":"1984"},{"key":"e_1_2_1_5_2","doi-asserted-by":"crossref","unstructured":"G.NaganathanandA. H.Soni \u201cNon\u2010Linear Flexibility Studies for Spatial Manipulators \u201d in: Proceedings of the 1986 IEEE International Conference on Robotics and Automation San Francisco April1986 pp.373\u2013378.","DOI":"10.1109\/ROBOT.1986.1087719"},{"key":"e_1_2_1_6_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498400300303"},{"key":"e_1_2_1_7_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620020409"},{"key":"e_1_2_1_8_2","doi-asserted-by":"crossref","unstructured":"P.Karkkainen \u201cCompensation Manipulator Flexibility Effects by Modal Space Techniques \u201d in: Proceedings of the 1985 IEEE International Conference on Robotics and Automation St. Louis March1985 pp.972\u2013977.","DOI":"10.1109\/ROBOT.1985.1087286"},{"key":"e_1_2_1_9_2","unstructured":"A. G.ChassiakosandG. A.Bekey \u201cPointwise Control of a Flexible Manipulator Arm \u201d in: SYROCO '85. Barcelona November1985 pp.113\u2013117."},{"key":"e_1_2_1_10_2","doi-asserted-by":"crossref","unstructured":"S.Nicosia P.Tomei andA.Tornambe \u201cDynamic Modelling of Flexible Robot Manipulators \u201d in: Proceedings of the 1986 IEEE International Conference on Robotics and Automation San Francisco April1986 pp.365\u2013372.","DOI":"10.1109\/ROBOT.1986.1087630"},{"key":"e_1_2_1_11_2","volume-title":"Finite Element Procedures in Engineering Analysis","author":"Bathe K. J.","year":"1982"},{"key":"e_1_2_1_12_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3643949"},{"key":"e_1_2_1_13_2","volume-title":"Analytical Methods in Vibrations","author":"Meirovitch L.","year":"1967"}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620040106","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620040106","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T06:56:11Z","timestamp":1737183371000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620040106"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1987,2]]},"references-count":12,"journal-issue":{"issue":"1","published-print":{"date-parts":[[1987,2]]}},"alternative-id":["10.1002\/rob.4620040106"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620040106","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"value":"0741-2223","type":"print"},{"value":"1097-4563","type":"electronic"}],"subject":[],"published":{"date-parts":[[1987,2]]}}}