{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T08:10:11Z","timestamp":1737187811867,"version":"3.33.0"},"reference-count":25,"publisher":"Wiley","issue":"3","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":5550,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1992,1]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>We treat the question of control of an elastic robotic arm of two links. Of course, this approach can be extended to other elastic arms. A nonlinear ultimate boundedness controller (UBC) is synthesized such that in the closed\u2010loop system the joint angle tracking error is uniformly bounded and tends to a certain small neighborhood of the origin. The controller includes a reference joint angle trajectory generator and integral error feedback. Although the joint angles are controlled using the UBC, elastic modes are excited. A feedback stabilizer is designed for the linearized model including the UBC about the terminal state that is switched only in the vicinity of the equilibrium state for stabilization. Simulation results are presented to show that in the closed\u2010loop system including the UBC and the stabilizer accurate joint angle trajectory following and elastic mode stabilization are accomplished in the presence of uncertainty.<\/jats:p>","DOI":"10.1002\/rob.4620090302","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T13:08:48Z","timestamp":1183727328000},"page":"301-326","source":"Crossref","is-referenced-by-count":3,"title":["Nonlinear ultimate boundedness control and stabilization of a flexible robotic arm"],"prefix":"10.1002","volume":"9","author":[{"given":"P. J.","family":"Nathan","sequence":"first","affiliation":[]},{"given":"Sahjendra N.","family":"Singh","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","unstructured":"O.Maizza\u2010Neto \u201cModal Analysis and Control of Flexible Manipulator Arms \u201d Ph.D. Thesis Massachusetts Institute of Technology Cambridge MA 1973."},{"key":"e_1_2_1_3_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3426959"},{"key":"e_1_2_1_4_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3140666"},{"key":"e_1_2_1_5_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3143859"},{"key":"e_1_2_1_6_2","unstructured":"P. B.Usoro R.Nadira andS. S.Mahil \u201cControl of lightweight flexible manipulators: A feasibility study \u201d in Proc. of the 1984 American Control Conf. San Diego CA 1984 pp.1209\u20131216."},{"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":"publisher","DOI":"10.1177\/027836498400300303"},{"key":"e_1_2_1_9_2","doi-asserted-by":"publisher","DOI":"10.1109\/21.87053"},{"key":"e_1_2_1_10_2","unstructured":"G. G.HastingsandW. J.Book \u201cExperiments in optimal control of a flexible arm \u201d Proc. of 1985 American Control Conf. New York (1985) pp.728\u2013729."},{"key":"e_1_2_1_11_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620060304"},{"key":"e_1_2_1_12_2","doi-asserted-by":"publisher","DOI":"10.1109\/70.54737"},{"key":"e_1_2_1_13_2","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.1986.310769"},{"key":"e_1_2_1_14_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3143766"},{"key":"e_1_2_1_15_2","doi-asserted-by":"crossref","unstructured":"P.Lucibello \u201cNonlinear regulation with internal stability of a two\u2010link flexible robotic arm \u201d Proc. of IEEE Conf. on Decision and Control Tampa FL 1989 pp.1645\u20131650.","DOI":"10.1109\/CDC.1989.70427"},{"key":"e_1_2_1_16_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620060403"},{"key":"e_1_2_1_17_2","doi-asserted-by":"publisher","DOI":"10.1080\/00207729008910444"},{"key":"e_1_2_1_18_2","doi-asserted-by":"crossref","unstructured":"K.KhorasaniandM. W.Spong \u201cInvariant manifolds and their application to robot manipulators with flexible joints \u201d Proc. of 1985 IEEE Int. Conf. on Robotics and Automation New York 1985 pp.978\u2013983.","DOI":"10.1109\/ROBOT.1985.1087289"},{"volume-title":"On the feedback control of industrial robots with elastic joints: A singular perturbation approach","year":"1984","author":"Marino R.","key":"e_1_2_1_19_2"},{"key":"e_1_2_1_20_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498800700404"},{"key":"e_1_2_1_21_2","doi-asserted-by":"publisher","DOI":"10.1109\/7.1048"},{"key":"e_1_2_1_22_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.2896473"},{"key":"e_1_2_1_23_2","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1985.1103929"},{"key":"e_1_2_1_24_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3152674"},{"key":"e_1_2_1_25_2","doi-asserted-by":"publisher","DOI":"10.1109\/7.42085"},{"key":"e_1_2_1_26_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3139661"}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620090302","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620090302","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T07:31:40Z","timestamp":1737185500000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620090302"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1992,1]]},"references-count":25,"journal-issue":{"issue":"3","published-print":{"date-parts":[[1992,1]]}},"alternative-id":["10.1002\/rob.4620090302"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620090302","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"type":"print","value":"0741-2223"},{"type":"electronic","value":"1097-4563"}],"subject":[],"published":{"date-parts":[[1992,1]]}}}