{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,9]],"date-time":"2026-03-09T04:05:54Z","timestamp":1773029154361,"version":"3.50.1"},"reference-count":18,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2025,12,8]],"date-time":"2025-12-08T00:00:00Z","timestamp":1765152000000},"content-version":"vor","delay-in-days":341,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"},{"start":{"date-parts":[[2025,1,1]],"date-time":"2025-01-01T00:00:00Z","timestamp":1735689600000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/doi.wiley.com\/10.1002\/tdm_license_1.1"}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Journal of Robotics"],"published-print":{"date-parts":[[2025,1]]},"abstract":"<jats:p>\n                    With the advancement of automation technology, flexible arm robots are increasingly widely used in industrial, medical, and other fields, especially in complex and uncertain environments, showing great potential. However, flexible arm robots face many challenges in path planning (PP) and motion control, such as dynamic deformation and nonlinear characteristics affecting motion accuracy. The existing PP algorithms and control methods have shortcomings in terms of dynamic obstacle adaptability and energy consumption. Therefore, a flexible arm robot tracking algorithm combining improved ant colony algorithm and dynamic window approach (DWA) is proposed, which improves trajectory tracking performance through a dual closed\u2010loop control (CLC) strategy and an extended state observer (ESO). The experimental results showed that in the PP task, the success rate of the raised tracking algorithm in dynamic obstacle environments decreased from 98.66% to 73.69%, which was higher than the comparison algorithms. In the trajectory tracking task, the proposed control strategy reduced the average error on the\n                    <jats:italic>X<\/jats:italic>\n                    \u2010axis and\n                    <jats:italic>Y<\/jats:italic>\n                    \u2010axis to 1.34 and 1.02\u2009cm, respectively, which was much better than traditional control strategies. In addition, the introduction of an ESO improved the compensation capability for external disturbances, reducing trajectory deviation by over 67%. The research results demonstrate the effectiveness and superiority of the raised tracking algorithm in dynamic and complex environments, providing a new solution for PP and control of flexible arm robots, which has important theoretical value and practical significance.\n                  <\/jats:p>","DOI":"10.1155\/joro\/9936847","type":"journal-article","created":{"date-parts":[[2025,12,8]],"date-time":"2025-12-08T12:04:51Z","timestamp":1765195491000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Tracking Algorithm of Flexible Arm Robot in Uncertain Environment"],"prefix":"10.1155","volume":"2025","author":[{"given":"Qingyan","family":"Li","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Haitao","family":"Huang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0009-9269-9093","authenticated-orcid":false,"given":"Yulian","family":"Li","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qiyou","family":"Wu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2025,12,8]]},"reference":[{"key":"e_1_2_9_1_2","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574722000893"},{"key":"e_1_2_9_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3153712"},{"key":"e_1_2_9_3_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2023.10.1258"},{"key":"e_1_2_9_4_2","doi-asserted-by":"publisher","DOI":"10.20965\/jaciii.2022.p0342"},{"key":"e_1_2_9_5_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.apm.2023.04.001"},{"key":"e_1_2_9_6_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3152687"},{"key":"e_1_2_9_7_2","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.2022.3198925"},{"key":"e_1_2_9_8_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3174257"},{"key":"e_1_2_9_9_2","doi-asserted-by":"publisher","DOI":"10.18178\/ijmerr.12.1.40-47"},{"key":"e_1_2_9_10_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3152318"},{"key":"e_1_2_9_11_2","doi-asserted-by":"publisher","DOI":"10.32604\/cmc.2022.028165"},{"key":"e_1_2_9_12_2","doi-asserted-by":"publisher","DOI":"10.18178\/ijmerr.11.8.614-621"},{"key":"e_1_2_9_13_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-023-01896-1"},{"key":"e_1_2_9_14_2","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574724001383"},{"key":"e_1_2_9_15_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2022.3148753"},{"key":"e_1_2_9_16_2","doi-asserted-by":"crossref","first-page":"199","DOI":"10.1080\/00051144.2021.2022889","article-title":"Image Space Trajectory Tracking of 6-DOF Robot Manipulator in Assisting Visual Servoing","volume":"63","author":"Krishnan M. G.","year":"2022","journal-title":"Automatika: \u010dasopis ZA Automatiku, Mjerenje, Elektroniku, Ra\u010dunarstvo i Komunikacije"},{"key":"e_1_2_9_17_2","doi-asserted-by":"publisher","DOI":"10.47852\/bonviewAIA3202549"},{"key":"e_1_2_9_18_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2022.3189511"}],"container-title":["Journal of Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1155\/joro\/9936847","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/full-xml\/10.1155\/joro\/9936847","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1155\/joro\/9936847","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,3,9]],"date-time":"2026-03-09T03:16:37Z","timestamp":1773026197000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1155\/joro\/9936847"}},"subtitle":[],"editor":[{"given":"Shahram","family":"Payandeh","sequence":"additional","affiliation":[],"role":[{"role":"editor","vocabulary":"crossref"}]}],"short-title":[],"issued":{"date-parts":[[2025,1]]},"references-count":18,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2025,1]]}},"alternative-id":["10.1155\/joro\/9936847"],"URL":"https:\/\/doi.org\/10.1155\/joro\/9936847","archive":["Portico"],"relation":{},"ISSN":["1687-9600","1687-9619"],"issn-type":[{"value":"1687-9600","type":"print"},{"value":"1687-9619","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,1]]},"assertion":[{"value":"2025-06-23","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2025-11-03","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2025-12-08","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"9936847"}}