{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,6,6]],"date-time":"2025-06-06T14:26:31Z","timestamp":1749219991077},"reference-count":14,"publisher":"Wiley","issue":"4","license":[{"start":{"date-parts":[[2007,3,22]],"date-time":"2007-03-22T00:00:00Z","timestamp":1174521600000},"content-version":"vor","delay-in-days":6077,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1990,8]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Transmission flexibility, as a predominant source of mechanical resonance, often results in inaccurate tracking of prescribed robot trajectories. Thus, the control algorithm must compensate not only for nonlinear dynamics of the arm and payload variations, but also for resonant effects in joints. The compensation for all of these effects results in a very complicated control algorithms which are difficult to apply in practice. In this article we suggest the measurement of torque\/force on the output shaft of elastic reducer in order to compensate for elastic effects. The torque measurement can be replaced by the simultaneous measurement of the joint and the motor\u2010shaft angle. Then, we introduce a dynamic compensator with two zeros and two poles to filtrate the torque signal. It appears that the obtained control law is very simple and compensates for nonlinear system dynamics, variable payload parameters and resonant effects in joints. The proposed control scheme is illustrated by computer simulation of a six\u2010degree\u2010of\u2010freedom robot.<\/jats:p>","DOI":"10.1002\/rob.4620070403","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T10:24:25Z","timestamp":1183717465000},"page":"535-554","source":"Crossref","is-referenced-by-count":12,"title":["Position control of robot manipulators with elastic joints using force feedback"],"prefix":"10.1002","volume":"7","author":[{"given":"Nenad","family":"Kircanski","sequence":"first","affiliation":[]},{"given":"Aleksandar","family":"Timcenko","sequence":"additional","affiliation":[]},{"given":"Miomir","family":"Vukobratovic","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,22]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1985.1087011"},{"key":"e_1_2_1_3_2","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087077"},{"key":"e_1_2_1_4_2","doi-asserted-by":"crossref","unstructured":"L.SweetandM.Good \u201cRedefinition of the robot motion control problem: Effect of plant dynamics drive system constraints and user requirements \u201d Proc. 23rd IEEE Conference Decision and Control Las Vegas NV Dec.1984 pp.724\u2013731.","DOI":"10.1109\/CDC.1984.272105"},{"key":"e_1_2_1_5_2","unstructured":"H.KunceandA.Jacubasch \u201cOn the closed\u2010loop control of an elastic industrial robot \u201d in Proc. 1984 American Control Conf. San Diego June 6\u20138 1984."},{"key":"e_1_2_1_6_2","volume-title":"IEEE Conference on Robotics and Automation","author":"Widmann G.","year":"1985"},{"key":"e_1_2_1_7_2","volume-title":"On the feedback control of industrial robots with elastic joints: A singular perturbation approach","author":"Marino R.","year":"1984"},{"key":"e_1_2_1_8_2","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087102"},{"key":"e_1_2_1_9_2","volume-title":"Singular Perturbations in Systems and Control","author":"Kokotovic P. V.","year":"1986"},{"key":"e_1_2_1_10_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3143860"},{"key":"e_1_2_1_11_2","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1983.1103215"},{"key":"e_1_2_1_12_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-82198-1"},{"key":"e_1_2_1_13_2","volume-title":"Robot Manipulators: Mathematics, Programming and Control","author":"Paul R. P.","year":"1982"},{"key":"e_1_2_1_14_2","doi-asserted-by":"publisher","DOI":"10.1080\/00207178308933088"},{"key":"e_1_2_1_15_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498500400205"}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620070403","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620070403","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,10,22]],"date-time":"2023-10-22T19:41:33Z","timestamp":1698003693000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620070403"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1990,8]]},"references-count":14,"journal-issue":{"issue":"4","published-print":{"date-parts":[[1990,8]]}},"alternative-id":["10.1002\/rob.4620070403"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620070403","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"value":"0741-2223","type":"print"},{"value":"1097-4563","type":"electronic"}],"subject":[],"published":{"date-parts":[[1990,8]]}}}