{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T08:10:27Z","timestamp":1737187827425,"version":"3.33.0"},"reference-count":18,"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":5153,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1993,2]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>The flexibility of a robotic manipulator is considered an important factor, especially the joint compliance for improving the accuracy and operating speed of a robot application. In this article, two methods are employed to identify the structural dynamic characteristics of each joint transmission system of an ITRI\u2010U type robot. The driving system of each joint is modeled as a mass\u2010spring\u2010damper mechanism that has a second\u2010order dynamic mathematical equation. Then, the response experiments of hammer impact excitation and motor driving actuation are done and the difference between them compared. Those are used to simulate two different operation situations, the robot colliding with the environment and the discontinuing dynamic operation impacts. The system's parameters of each joint axis are obtained by the system identification technique. From the experimental results, the angular error of the motor shaft can be compensated by the control gain of the motor controller. However, the small damping ratio of the robotic mechanism limits the magnitude of servo gain. If the servo gain increases, the robot arm has oscillation phenomenon during dynamic operation. In addition, the error due to joint elasticity cannot be overcome by the current industrial robotic controller. Therefore, a suitable controller should be designed to compensate the dynamic effects of joint compliance with the identified parameters.<\/jats:p>","DOI":"10.1002\/rob.4620100106","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T13:18:25Z","timestamp":1183727905000},"page":"103-122","source":"Crossref","is-referenced-by-count":2,"title":["Measurement and analysis of structural dynamics properties of robotic joint transmission system"],"prefix":"10.1002","volume":"10","author":[{"given":"Shiuh\u2010Jer","family":"Huang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chin\u2010Yih","family":"Chen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","unstructured":"E. I.Rivin \u201cEffective rigidity of robot structures: Analysis and enhancement \u201d Proc. of the American Control Conf. Boston MA 1985 pp.381\u2013382."},{"key":"e_1_2_1_3_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3140707"},{"key":"e_1_2_1_4_2","doi-asserted-by":"publisher","DOI":"10.1109\/MCS.1985.1104955"},{"key":"e_1_2_1_5_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3152641"},{"key":"e_1_2_1_6_2","first-page":"137","article-title":"An analytical and experimental study of the stiffness of robot manipulator with parallel mechanism","volume":"15","author":"Leu M. C.","year":"1986","journal-title":"Robotics and Manufacturing Automation, ASME PED"},{"key":"e_1_2_1_7_2","unstructured":"C. C.Chen M. K.Yeh andC. K.Sung \u201cAn analytical and experimental study of the joint characteristics of an industrial robot manipulator \u201d Proc. of the 2nd National Workshop on Automation Technology Taiwan1988 pp.370\u2013380."},{"key":"e_1_2_1_8_2","doi-asserted-by":"publisher","DOI":"10.1016\/S0007-8506(07)62610-9"},{"key":"e_1_2_1_9_2","doi-asserted-by":"publisher","DOI":"10.1016\/S0007-8506(07)61790-9"},{"key":"e_1_2_1_10_2","unstructured":"C. C.Chen M. K.Yeh andC. K.Sung \u201cDetermination of the joint characteristics and structural response of a robot manipulator with a parallel mechanism \u201d Proc. of the Sixth National Conf. of The Chinese Society of Mechanical Engineering Taiwan 1989 pp.1663\u20131672."},{"key":"e_1_2_1_11_2","doi-asserted-by":"crossref","unstructured":"K.KorasaniandM. W.Spong \u201cInvariant manifolds and their application to robot manipulators with flexible joints \u201d Proc. of IEEE International Conf. on Robotics and Automation St. Louis MO 1985 pp.978\u2013983.","DOI":"10.1109\/ROBOT.1985.1087289"},{"key":"e_1_2_1_12_2","doi-asserted-by":"crossref","unstructured":"R.MarinoandM. W.Spong \u201cNonlinear control techniques for flexible joint manipulators; a single link case study \u201d Proc. of IEEE International Conf. on Robotics and Automation San Francisco CA1986 pp.1030\u20131036.","DOI":"10.1109\/ROBOT.1986.1087613"},{"key":"e_1_2_1_13_2","doi-asserted-by":"crossref","unstructured":"A. D.Luca \u201cDynamic control of robots with joint elasticity \u201d Proc. of IEEE International Conference on Robotics and Automation Philadelphia PA1988 pp.152\u2013158.","DOI":"10.1109\/ROBOT.1988.12040"},{"key":"e_1_2_1_14_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3140689"},{"key":"e_1_2_1_15_2","unstructured":"N. G.DagalakisandD. R.Myers \u201cEstimation of the dynamic parameters of a robot joint drive system \u201d Proc. of International Conf. on Systems Man and Cybernetics Atlanta GA1986 pp.655\u2013659."},{"key":"e_1_2_1_16_2","doi-asserted-by":"publisher","DOI":"10.1016\/0022-460X(80)90466-6"},{"key":"e_1_2_1_17_2","doi-asserted-by":"crossref","unstructured":"G. B.YangandM.Donath \u201cDynamic model of a one\u2010link robot manipulator with both structural and joint flexibility \u201d Proc. of IEEE International Conf. on Robotics and Automation 1988 pp.476\u2013482.","DOI":"10.1109\/ROBOT.1988.12097"},{"key":"e_1_2_1_18_2","doi-asserted-by":"publisher","DOI":"10.1016\/S0022-460X(87)81326-3"},{"key":"e_1_2_1_19_2","doi-asserted-by":"crossref","unstructured":"C. C.DewitandO.Lys \u201cRobust control and parameter estimation of robots with flexible joints \u201d Proc. of IEEE International Conf. on Robotics and Automation 1988 pp.324\u2013329.","DOI":"10.1109\/ROBOT.1988.12069"}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620100106","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620100106","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T07:35:26Z","timestamp":1737185726000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620100106"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1993,2]]},"references-count":18,"journal-issue":{"issue":"1","published-print":{"date-parts":[[1993,2]]}},"alternative-id":["10.1002\/rob.4620100106"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620100106","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"type":"print","value":"0741-2223"},{"type":"electronic","value":"1097-4563"}],"subject":[],"published":{"date-parts":[[1993,2]]}}}