{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T01:34:19Z","timestamp":1760146459671},"reference-count":0,"publisher":"Cambridge University Press (CUP)","issue":"6","license":[{"start":{"date-parts":[[2002,11,21]],"date-time":"2002-11-21T00:00:00Z","timestamp":1037836800000},"content-version":"unspecified","delay-in-days":20,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2002,11]]},"abstract":"<jats:p>This paper focuses on using a singularly perturbed approach to \nderive a vibration damping control law in which a pole \nassignment feedback method is utilized. The composite control system is \ncharacterized by two components which can be computed separately. The \none is Cartesian-based PI control which drives the end-effector of \na flexible manipulator to track the desired time-based trajectory. The \nother is pole assignment feedback control which damps out vibrations \nduring and at the end of trajectory tracking. An advantage \nof this composite control method in real implementation is that \nit does not require a derivative of the end-effector's position, \nand the derivatives of signals from the strain gauges. From \nthe characteristics and implementation points of view, it appears to \nbe simple to use. Laboratory experiments were conducted to evaluate \nthe performance of the proposed control method.<\/jats:p>","DOI":"10.1017\/s0263574702004435","type":"journal-article","created":{"date-parts":[[2002,11,26]],"date-time":"2002-11-26T14:39:18Z","timestamp":1038321558000},"page":"637-651","source":"Crossref","is-referenced-by-count":10,"title":["A singularly perturbed method for pole assignment control of a flexible manipulator"],"prefix":"10.1017","volume":"20","author":[{"given":"Atsushi","family":"Konno","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Liu","family":"Deman","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Masaru","family":"Uchiyama","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2002,11,21]]},"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574702004435","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,7]],"date-time":"2019-05-07T00:25:20Z","timestamp":1557188720000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574702004435\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2002,11]]},"references-count":0,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2002,11]]}},"alternative-id":["S0263574702004435"],"URL":"https:\/\/doi.org\/10.1017\/s0263574702004435","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2002,11]]}}}