{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,6,6]],"date-time":"2025-06-06T14:48:36Z","timestamp":1749221316501,"version":"3.33.0"},"reference-count":20,"publisher":"Wiley","issue":"4","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":4819,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1994,1]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>This article treats the question of end point trajectory control of a flexible manipulator based on the nonlinear inversion technique. The manipulator has two rigid links and the third link is elastic. A parameterization of the Cartesian coordinates of a point close to the end effector position is suggested. Using these coordinates as output variables, an inverse feedback control law is derived for tracking reference Cartesian trajectories. The stability of the zero dynamics associated with the end point motion control is examined. It is shown that inverse control of the end point causes divergent oscillatory flexible modes. In addition, for regulating the end point to a fixed position, a linear stabilizer is designed to damp the elastic vibration. Simulation results are presented to show that in the closed\u2010loop system, reference end point trajectories can be accurately followed in spite of the parameter uncertainty in the arm dynamic model. \u00a9 1994 John Wiley &amp; Sons, Inc.<\/jats:p>","DOI":"10.1002\/rob.4620110407","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T14:50:49Z","timestamp":1183733449000},"page":"311-326","source":"Crossref","is-referenced-by-count":15,"title":["Inverse cartesian trajectory control and stabilization of a three\u2010axis flexible manipulator"],"prefix":"10.1002","volume":"11","author":[{"given":"Woosoon","family":"Yim","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\/1.3426959"},{"key":"e_1_2_1_3_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3143859"},{"key":"e_1_2_1_4_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498400300303"},{"issue":"2","key":"e_1_2_1_5_2","first-page":"79","article-title":"An experimental adaptive control scheme for a flexible manipulator,","volume":"3","author":"Yang T. C.","year":"1988","journal-title":"Int. J. of Robotics and Automation"},{"key":"e_1_2_1_6_2","doi-asserted-by":"publisher","DOI":"10.1109\/21.87053"},{"key":"e_1_2_1_7_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498800700404"},{"key":"e_1_2_1_8_2","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574700007554"},{"key":"e_1_2_1_9_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498900800604"},{"key":"e_1_2_1_10_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620040106"},{"key":"e_1_2_1_11_2","doi-asserted-by":"crossref","unstructured":"P.Lucibello \u201cNonlinear regulation with internal stability of a two\u2010link flexible robotic arm \u201d Proc. IEEE Conf. on Decision and Control Tampa FL 1989 pp.1645\u20131650.","DOI":"10.1109\/CDC.1989.70427"},{"key":"e_1_2_1_12_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620060403"},{"key":"e_1_2_1_13_2","doi-asserted-by":"publisher","DOI":"10.1080\/00207178908953460"},{"key":"e_1_2_1_14_2","doi-asserted-by":"crossref","unstructured":"A.de Luca L.Lanari andG.Ulivi \u201cOutput regulation of a flexible robot arm \u201d Proc. of 9th Int. Conf. Analysis & Optimization of Systems 1990 pp.833\u2013842.","DOI":"10.1007\/BFb0120104"},{"issue":"3","key":"e_1_2_1_15_2","article-title":"Inverse dynamics of a single\u2010link flexible robot: Analytical and experimental results,","volume":"3","author":"Bayo E.","year":"1988","journal-title":"Int. J. of Robotics and Automation"},{"issue":"4","key":"e_1_2_1_16_2","first-page":"179","article-title":"Inverse trajectory control and zero dynamics sensitivity of an elastic manipulator,","volume":"6","author":"Madhavan S. 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