{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T08:10:21Z","timestamp":1737187821032,"version":"3.33.0"},"reference-count":15,"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>The dynamics of mechanical systems with distributed flexibility are described by infinite dimensional mathematical models, yet a real controller must be finite dimensional due to the limited bandwidth capabilities of the sensor\u2010actuator system and real\u2010time control computer hardware. Therefore, simplified finite dimensional dynamic models must be obtained for the purpose of controller design. This article addresses the issue of selecting the shape and number of mode functions in developing finite order models using a flexible robot arm as an example. The results of this work have consistently shown that the clamped\u2010free mode shape predicts the closed\u2010loop system dynamics under a feedback controller much more accurately than pinned\u2010free mode shapes. However, as the hub inertia increases relative to the flexible beam inertia the difference between the clamped\u2010free and pinned\u2010free mode shape model predictions becomes smaller.<\/jats:p>","DOI":"10.1002\/rob.4620090303","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T13:08:48Z","timestamp":1183727328000},"page":"327-350","source":"Crossref","is-referenced-by-count":6,"title":["Accuracy of finite dimensional dynamic models of flexible manipulators for controller design"],"prefix":"10.1002","volume":"9","author":[{"given":"Sabri","family":"Cetinkunt","sequence":"first","affiliation":[]},{"given":"Wen\u2010Lung","family":"Yu","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","unstructured":"J. C.PiedboeufandR.Hurteau \u201cModeling and identification of parameters of a flexible one\u2010link arm using visual feedback \u201d Presented at the 1987 IEEE Int. Conf. on Robotics and Automation Raleigh NC March 30\u2010April 3 1987."},{"key":"e_1_2_1_3_2","doi-asserted-by":"publisher","DOI":"10.2514\/3.5739"},{"key":"e_1_2_1_4_2","doi-asserted-by":"publisher","DOI":"10.1109\/70.54737"},{"key":"e_1_2_1_5_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498400300303"},{"key":"e_1_2_1_6_2","doi-asserted-by":"publisher","DOI":"10.1109\/MCS.1987.1105233"},{"key":"e_1_2_1_7_2","doi-asserted-by":"crossref","unstructured":"D.WangandM.Vidyasagar \u201cControl of flexible beam for optimum step response \u201d Proc. of IEEE Conf. on Robotics and Automation Raleigh NC 1987pp.1567\u20131572.","DOI":"10.1109\/ROBOT.1987.1087738"},{"key":"e_1_2_1_8_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3140666"},{"key":"e_1_2_1_9_2","doi-asserted-by":"publisher","DOI":"10.1016\/0736-5845(89)90004-5"},{"key":"e_1_2_1_10_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3143859"},{"key":"e_1_2_1_11_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498700600106"},{"key":"e_1_2_1_12_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498900800604"},{"key":"e_1_2_1_13_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3152705"},{"key":"e_1_2_1_14_2","unstructured":"E.Schmitz \u201cExperiments on the End\u2010Point Position Control of a Very Flexible One\u2010Link Manipulator \u201d Ph. D. Thesis Stanford University Stanford CA 1985."},{"key":"e_1_2_1_15_2","unstructured":"G. G.Hastings \u201cControlling Flexible Manipulators: An Experimental Investigation \u201d Ph. D. Thesis Georgia Institute of Technology 1986."},{"key":"e_1_2_1_16_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3426959"}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620090303","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620090303","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T07:31:36Z","timestamp":1737185496000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620090303"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1992,1]]},"references-count":15,"journal-issue":{"issue":"3","published-print":{"date-parts":[[1992,1]]}},"alternative-id":["10.1002\/rob.4620090303"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620090303","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]]}}}