{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,16]],"date-time":"2026-03-16T09:34:39Z","timestamp":1773653679123,"version":"3.50.1"},"reference-count":17,"publisher":"Wiley","issue":"5","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":7103,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1987,10]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>This article addresses the feasibility of applying discrete\u2010time model reference adaptive control techniques to the flexible link of robot mechanisms. The method of separation of variables is used to represent the deflection of the link. A nonlinear model is obtained using a Lagrangian equation, and the candidate frequencies and the associated mode functions are obtained using Bernoulli\u2010Euler beam theory. By considering the effect of flexibility as an internal disturbance torque acting on the rigid body motion of the system, a discrete\u2010time MRAC is determined for a single non\u2010rigid link. The control algorithm is implemented for a collocated sensor and actuator system, and for a noncollocated end\u2010point sensor and actuator system. Results of computer simulation show the feasibility of this approach and the advantage of using an end\u2010point sensing system.<\/jats:p>","DOI":"10.1002\/rob.4620040504","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T05:31:17Z","timestamp":1183699877000},"page":"621-630","source":"Crossref","is-referenced-by-count":47,"title":["Application of discrete\u2010time model reference adaptive control to a flexible single\u2010link robot"],"prefix":"10.1002","volume":"4","author":[{"given":"J.","family":"Yuh","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\/1.3140666"},{"key":"e_1_2_1_3_2","doi-asserted-by":"crossref","unstructured":"F.RakhshaandA. A.Goldenberg \u201cDynamic Modelling of a Single\u2010link Flexible Robot \u201d Proc. 1985 Int. IEEE Conf. 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R.Falkenburg \u201cDynamics of Nonrigid Articulated Robot Linkages \u201d Proc. 1983 ACC pp.1045\u20131049.","DOI":"10.23919\/ACC.1983.4788269"},{"key":"e_1_2_1_9_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3140681"},{"key":"e_1_2_1_10_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3426959"},{"key":"e_1_2_1_11_2","doi-asserted-by":"crossref","unstructured":"D. R.Meldrum andM. J.Balas \u201cApplication of MRAC to a flexible Remote Manipulator Arm \u201d Proc. 1986 ACC Seattle WA 2 825\u2013832(June1986).","DOI":"10.23919\/ACC.1986.4789048"},{"key":"e_1_2_1_12_2","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1978.1101798"},{"key":"e_1_2_1_13_2","unstructured":"J.YuhandW. 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E.Holley \u201cOn the Development of an Algorithm for Solving Stiff Nonlinear Dynamic Equations Based on the Broyden's Updating Method \u201d to be published."}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620040504","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620040504","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T06:55:01Z","timestamp":1737183301000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620040504"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1987,10]]},"references-count":17,"journal-issue":{"issue":"5","published-print":{"date-parts":[[1987,10]]}},"alternative-id":["10.1002\/rob.4620040504"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620040504","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"value":"0741-2223","type":"print"},{"value":"1097-4563","type":"electronic"}],"subject":[],"published":{"date-parts":[[1987,10]]}}}