{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,9]],"date-time":"2025-02-09T05:05:58Z","timestamp":1739077558363,"version":"3.37.0"},"reference-count":21,"publisher":"Cambridge University Press (CUP)","issue":"4","license":[{"start":{"date-parts":[[2009,3,9]],"date-time":"2009-03-09T00:00:00Z","timestamp":1236556800000},"content-version":"unspecified","delay-in-days":4634,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1996,7]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>This paper presents a practical approach for the point-to-point control of elastic-jointed robot manipulators. With the proposed approach only position and velocity feedback are referenced, as opposed to most of the existing control schemes of elastic-jointed manipulators which require additional acceleration and\/or jerk feedback. To guarantee the robustness of the controller, it is designed on extreme parameter uncertainties due to highly elastic joints of manipulators and energy motivated Lyapunov functions are used to derive the control law. Four pertinent controller gains are chosen in light of the on-line position and velocity feedback of the links and joint sensors. Through a simulated experimental verification, it is demonstrated that the designed simple position and velocity feedback controller, similar to that used for rigid-jointed robots, can globally stabilize the elastic-jointed robot for a bounded reference position. In addition, the tracking performance of the controller reveals that this simple control algorithm is robust in terms of joint flexibility. And the simplicity of the presented control algorithm, as compared to other model-based techniques for flexiblejoint robots, is particularly advantageous. Even though the simulated experiments are conducted on a single-link flexible joint robot, control law derived in this paper has general meaning for multi-link flexible joint robots.<\/jats:p>","DOI":"10.1017\/s0263574700019767","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T13:09:54Z","timestamp":1236690594000},"page":"375-380","source":"Crossref","is-referenced-by-count":2,"title":["Linear robust trajectory control of flexible joint manipulators"],"prefix":"10.1017","volume":"14","author":[{"given":"Yueh-Jaw","family":"Lin","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Aiping","family":"Yu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S0263574700019767_ref017","doi-asserted-by":"publisher","DOI":"10.1016\/0736-5845(92)90006-R"},{"key":"S0263574700019767_ref015","doi-asserted-by":"publisher","DOI":"10.1016\/0167-6911(89)90016-9"},{"key":"S0263574700019767_ref014","doi-asserted-by":"publisher","DOI":"10.1109\/9.121619"},{"volume-title":"Adaptive Control of Mechanical Manipulators","year":"1989","author":"Craig","key":"S0263574700019767_ref021"},{"key":"S0263574700019767_ref010","doi-asserted-by":"crossref","unstructured":"Nicosia P. and Tomei P. \u201cA New Approach to Control Elastic Joints Robots with Application to Adaptive Control.\u201d Proc. of the 30th Conferenceon Decision and Control\u201c.Brighton.England (Dec. 1991) pp. 343\u2013347.","DOI":"10.1109\/CDC.1991.261319"},{"key":"S0263574700019767_ref009","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087102"},{"key":"S0263574700019767_ref013","doi-asserted-by":"publisher","DOI":"10.1016\/0167-6911(93)90004-P"},{"key":"S0263574700019767_ref004","doi-asserted-by":"publisher","DOI":"10.1109\/9.90238"},{"volume-title":"Introduction to Physical Modeling","year":"1979","author":"Wellstead","key":"S0263574700019767_ref019"},{"key":"S0263574700019767_ref020","doi-asserted-by":"publisher","DOI":"10.1109\/9.14411"},{"key":"S0263574700019767_ref011","doi-asserted-by":"publisher","DOI":"10.1016\/0005-1098(92)90149-A"},{"key":"S0263574700019767_ref018","first-page":"152","article-title":"Dynamic Control of Robots with Joint Elasticity","author":"Luca","year":"1988","journal-title":"IEEE Int. Conf. on Robots and Automation"},{"key":"S0263574700019767_ref008","unstructured":"Ghorbel F. and Spong M.W. . \u201cAdaptive Integral Manifold Control of Flexible Joint Robots with Configuration Invariant Inertia. Proc. American Control Conference (1992) pp. 3314\u20133318."},{"key":"S0263574700019767_ref012","first-page":"1201","article-title":"Nonlinear Adaptive Motion Control for a Manipulator with Flexible Joints","author":"Chen","year":"1989","journal-title":"IEEE Int. Conf. on Robots and Automation"},{"key":"S0263574700019767_ref003","first-page":"1209","article-title":"Re-definition of the Robot Motion Control Problem: Effect of Plant Control","author":"Sweet","year":"1984","journal-title":"Proc. IEEE Conf. Decision and Control, Las Vegas."},{"key":"S0263574700019767_ref001","first-page":"310","article-title":"Modeling and Control of Elastic Joint Robots","volume":"109","author":"Spong","year":"1987","journal-title":"Transactions of the ASME."},{"key":"S0263574700019767_ref006","unstructured":"Nicosia P. and Tomei P. \u201cOn the Feedback Linearization of Robots with Elastic Joints\u201d. Proc. of the 27th ConferenceOn Decision and Control.Austin.Texas (1988) pp. 180\u2013185."},{"key":"S0263574700019767_ref002","doi-asserted-by":"publisher","DOI":"10.1109\/37.41450"},{"key":"S0263574700019767_ref016","doi-asserted-by":"publisher","DOI":"10.1080\/00207179208934282"},{"key":"S0263574700019767_ref005","doi-asserted-by":"publisher","DOI":"10.1016\/0736-5845(92)90028-5"},{"key":"S0263574700019767_ref007","unstructured":"Bortoff S.A. and Spong M.W. . \u201cFeedback Linearization of Flexible Joint Robot Manipulators.\u201d Proc. of the 29th Conferenceon Decision and Control. Los Angeles. CA (1987) pp. 1357\u20131362."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574700019767","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,2,8]],"date-time":"2025-02-08T04:53:33Z","timestamp":1738990413000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574700019767\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1996,7]]},"references-count":21,"journal-issue":{"issue":"4","published-print":{"date-parts":[[1996,7]]}},"alternative-id":["S0263574700019767"],"URL":"https:\/\/doi.org\/10.1017\/s0263574700019767","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[1996,7]]}}}