{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,1,19]],"date-time":"2025-01-19T05:17:38Z","timestamp":1737263858302,"version":"3.33.0"},"reference-count":17,"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 addresses the problem of inverse dynamics for three\u2010dimensional flexible manipulators with both lumped and distributed actuators. A recursive procedure is presented for computing the lumped inverse dynamic torques and the distributed piezoelectric actuator inputs for simultaneously tracking a prescribed end\u2010point trajectory and reducing induced vibrations in the manipulator. The procedure sequentially solves for the non\u2010causal inverse dynamic torques and piezoelectric voltages applied to each link in the manipulator, starting from the last element in the chain and proceeding to the base element. The method allows trajectory tracking wherein controllability of the structural vibrations is assured in all possible configurations through the use of only one motor at each intermediate joint and three motors at the ground. Numerical simulation shows that the elastic vibrations can be reduced significantly through the use of distributed actuators while at the same time satisfying the trajectory tracking requirement through the use of inverse dynamics. \u00a9 1994 John Wiley &amp; Sons, Inc.<\/jats:p>","DOI":"10.1002\/rob.4620110408","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T14:50:49Z","timestamp":1183733449000},"page":"327-338","source":"Crossref","is-referenced-by-count":6,"title":["Inverse dynamics of spatial open\u2010chain flexible manipulators with lumped and distributed actuators"],"prefix":"10.1002","volume":"11","author":[{"given":"Ragnar","family":"Ledesma","sequence":"first","affiliation":[]},{"given":"Santosh","family":"Devasia","sequence":"additional","affiliation":[]},{"given":"Eduardo","family":"Bayo","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498700600308"},{"key":"e_1_2_1_3_2","unstructured":"W. J.Book \u201cModeling design and control of flexible manipulator arms: Status and trends \u201d Proceedings NASA Conference on Space Telerobotics 1989 Vol. 3 pp.11\u201324."},{"key":"e_1_2_1_4_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620070405"},{"key":"e_1_2_1_5_2","doi-asserted-by":"crossref","unstructured":"M.Uchiyama A.Konno T.Uchiyama andS.Kanda \u201cDevelopment of a flexible dual\u2010arm manipulator testbed for space robotics \u201d Proceedings IEEE International Workshop on Intelligent Robots and Systems Tsuchiura Japan 1990 pp.375\u2013381.","DOI":"10.1109\/IROS.1990.262413"},{"key":"e_1_2_1_6_2","doi-asserted-by":"crossref","unstructured":"M.UchiyamaandZ. H.Jiang \u201cCompensability of end\u2010effector position errors for flexible robot manipulators \u201d Proceedings 1991 American Control Conference Boston 1991 pp.1873\u20131878.","DOI":"10.23919\/ACC.1991.4791712"},{"key":"e_1_2_1_7_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620080506"},{"issue":"10","key":"e_1_2_1_8_2","first-page":"1371","article-title":"Use of piezoceramics as distributed actuators in large space structures,","volume":"25","author":"Crawley E. F.","year":"1987","journal-title":"AIAA Journal"},{"key":"e_1_2_1_9_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620040106"},{"key":"e_1_2_1_10_2","doi-asserted-by":"crossref","unstructured":"E.BayoandH.Moulin \u201cAn efficient computation of the inverse dynamics of flexible manipulators in the time domain \u201d Proceedings IEEE Conference on Robotics and Automation Scottsdale AZ 1989 pp.710\u2013715.","DOI":"10.1109\/ROBOT.1989.100068"},{"key":"e_1_2_1_11_2","doi-asserted-by":"crossref","unstructured":"D. S.KwonandW. J.Book \u201cAn inverse dynamic method yielding flexible manipulator state trajectories \u201d Proceedings American Control Conference San Diego CA 1990 Vol. 1 pp.186\u2013193.","DOI":"10.23919\/ACC.1990.4790726"},{"key":"e_1_2_1_12_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.2897407"},{"key":"e_1_2_1_13_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498900800604"},{"key":"e_1_2_1_14_2","unstructured":"I.ShimoyamaandI. J.Oppenheim \u201cManipulator with flexible links: a simple model and experiments \u201d Proceedings NASA Conference on Space Telerobotics 1989 Vol. 3 pp.59\u201368."},{"volume-title":"Dynamics of Multibody Systems","year":"1989","author":"Shabana A. 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