{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2022,3,29]],"date-time":"2022-03-29T17:46:54Z","timestamp":1648576014128},"reference-count":0,"publisher":"Cambridge University Press (CUP)","issue":"3","license":[{"start":{"date-parts":[[1999,5,1]],"date-time":"1999-05-01T00:00:00Z","timestamp":925516800000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1999,5]]},"abstract":"<jats:p>The question of control and stabilization of flexible space robots is \nconsidered. Although, this approach is applicable to space robots of \nother configurations, for simplicity, a flexible planar two-link robot, mounted \non a rigid floating platform, is considered. The robotic arm \nhas two revolute joints and its links undergo elastic deformation \nin the plane of rotation. Based on nonlinear inversion technique, \na control law is derived for controlling output variables describing \nthe position and orientation of the platform and the joint \nangles of the robot. Although, the inverse controller accomplishes reference \ntrajectory tracking, it excites the elastic modes of the arm. \nFor the vibration suppression, three different stabilizers are designed. Using \nlinear quadratic optimal control theory, a composite stabilizer for stabilization \nof the rigid and flexible modes and a decoupled flexible \nmode stabilizer are designed for regulating the end point of \nthe robot to the target point and vibration suppression. Stabilization \nusing only elastic mode velocity feedback is also considered. For \nlarge maneuvers, first the inverse controller is active, and the \nstabilizer is switched for regulation when the motion of the \nrobot lies in the neighborhood of the terminal equilibrium state. \nSimulation results are presented to show that in the closed-loop \nsystem including the inverse controller and each of the stabilizers, \ntrajectory tracking and stabilization of elastic modes are accomplished.<\/jats:p>","DOI":"10.1017\/s0263574799001332","type":"journal-article","created":{"date-parts":[[2002,7,27]],"date-time":"2002-07-27T13:36:08Z","timestamp":1027776968000},"page":"343-350","source":"Crossref","is-referenced-by-count":4,"title":["Inverse control and stabilization of free-flying flexible robots"],"prefix":"10.1017","volume":"17","author":[{"given":"G.","family":"de Rivals-Maz\u00e8res","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"W.","family":"Yim","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"F.","family":"Mora-Camino","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"S.N.","family":"Singh","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[1999,5,1]]},"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574799001332","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,9]],"date-time":"2019-05-09T21:27:00Z","timestamp":1557437220000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574799001332\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1999,5]]},"references-count":0,"journal-issue":{"issue":"3","published-print":{"date-parts":[[1999,5]]}},"alternative-id":["S0263574799001332"],"URL":"https:\/\/doi.org\/10.1017\/s0263574799001332","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[1999,5]]}}}