{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,1]],"date-time":"2026-03-01T02:40:58Z","timestamp":1772332858421,"version":"3.50.1"},"reference-count":12,"publisher":"Cambridge University Press (CUP)","issue":"2","license":[{"start":{"date-parts":[[2009,3,9]],"date-time":"2009-03-09T00:00:00Z","timestamp":1236556800000},"content-version":"unspecified","delay-in-days":6217,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1992,3]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>This paper focuses on the implementation of a dual-mode controller for the maneuver of a single link flexible robotic arm. The joint angle trajectory tracking is accomplished by a proportional and derivative PD and a feedforward controller. Based on the pole placement technique, a linear stabilizer is designed for elastic mode stabilization. The stabilizer is switched on when the trajectory reaches the vicinity of the terminal state, and the effect of switching time on arm vibration is investigated. An optical deflection sensor is used for on-line measurements of elastic deflections, and also used for the prediction of the static deflection of the arm in the target position. The robustness of the linear stabilizer at varying pay loads is presented.<\/jats:p>","DOI":"10.1017\/s0263574700007554","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T13:18:18Z","timestamp":1236691098000},"page":"135-145","source":"Crossref","is-referenced-by-count":12,"title":["Experimental dual-mode control of a flexible robotic arm"],"prefix":"10.1017","volume":"10","author":[{"given":"Woosoon","family":"Yim","sequence":"first","affiliation":[]},{"given":"Jichun","family":"Zuang","sequence":"additional","affiliation":[]},{"given":"Sahjendra","family":"Singh","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S0263574700007554_ref002","doi-asserted-by":"publisher","DOI":"10.1177\/027836498400300305"},{"key":"S0263574700007554_ref005","unstructured":"5. Yang Y.P. and Gibson J.S. , \u201cAdaptive control of a manipulator with a flexible link\u201d Technical Report ICASE Report No. 88\u201317, ICASE, NASA Langley Research Center, 1988 (NASA Contractor Report 181637)."},{"key":"S0263574700007554_ref012","volume-title":"Introduction to Robotics","author":"Craig","year":"1989"},{"key":"S0263574700007554_ref001","doi-asserted-by":"crossref","first-page":"435","DOI":"10.1002\/rob.4620040307","article-title":"A Systematic Formulation of Dynamic Equation for Robot Manipulator with Elastic Links","volume":"4","author":"Low","year":"1987","journal-title":"J. Robotic System"},{"key":"S0263574700007554_ref003","first-page":"8","article-title":"Dynamics simulation of a three degree of freedom hydraulically activated robotic arm with flexible links","volume":"1","author":"Trabia","year":"1990","journal-title":"SME Transactions on Robotics Research"},{"key":"S0263574700007554_ref004","first-page":"79","article-title":"An Experimental Adaptive Control Scheme for a Flexible Manipulator","volume":"3","author":"Yang","year":"1988","journal-title":"Int. J. Robotics and Automation"},{"key":"S0263574700007554_ref006","doi-asserted-by":"publisher","DOI":"10.1177\/027836498700600401"},{"key":"S0263574700007554_ref007","first-page":"180","article-title":"Control of Elastic Robotic Systems by Nonlinear Inversion and Modal Damping","author":"Singh","year":"1986","journal-title":"ASME Transactions"},{"key":"S0263574700007554_ref008","first-page":"115","article-title":"Nonlinear Adaptive Control and Linear Stabilization of an Elastic Arm","volume":"5","author":"Das","year":"1990","journal-title":"Int. J. Robotics and Automation"},{"key":"S0263574700007554_ref009","first-page":"194","volume-title":"Proc. of the SPIE's 33rd Annual International Technical Symposium on Optical and Optoelectronic Applied Science and Engineering","volume":"1167","author":"Yim","year":"1989"},{"key":"S0263574700007554_ref010","volume-title":"Computer Control of Machines and Processes","author":"Bollinger","year":"1988"},{"key":"S0263574700007554_ref011","volume-title":"Analytical Methods in Vibration","author":"Meirovitch","year":"1967"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574700007554","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,16]],"date-time":"2019-05-16T22:23:03Z","timestamp":1558045383000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574700007554\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1992,3]]},"references-count":12,"journal-issue":{"issue":"2","published-print":{"date-parts":[[1992,3]]}},"alternative-id":["S0263574700007554"],"URL":"https:\/\/doi.org\/10.1017\/s0263574700007554","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[1992,3]]}}}