{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,4]],"date-time":"2026-05-04T13:35:50Z","timestamp":1777901750473,"version":"3.51.4"},"reference-count":14,"publisher":"SAGE Publications","issue":"1","license":[{"start":{"date-parts":[[1993,1,1]],"date-time":"1993-01-01T00:00:00Z","timestamp":725846400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["SIMULATION"],"published-print":{"date-parts":[[1993,1]]},"abstract":"<jats:p>This paper presents a design methodology for controllers of flexible structures based on uncertain modeling techniques. The particular problem which is addressed is the control of a single flexible link planar manipulator. An extremely simple control strategy is derived by treating the effects of compliance as an uncertain torque about which no a priori knowledge is assumed other than a bound. However, because the torque is modeled as an uncertainty, we must perform computer-aided validation of our design using a finite-element model for our manipulator. Hitherto, the finite- element package ANSYS has been widely used as a modeling\/analysis tool for flexible structures. However, developments in the ANSYS (version 4.3 and later) allow the interfacing of external programs with the analysis package, thereby enabling closed- loop control strategies to be tested.<\/jats:p>","DOI":"10.1177\/003754979306000105","type":"journal-article","created":{"date-parts":[[2008,3,29]],"date-time":"2008-03-29T13:23:43Z","timestamp":1206797023000},"page":"54-62","source":"Crossref","is-referenced-by-count":0,"title":["Computer-Aided VSS Control Validation for a Rotating Flexible Link Manipulator Using ANSYS"],"prefix":"10.1177","volume":"60","author":[{"given":"Niaz","family":"Mahmood","sequence":"first","affiliation":[{"name":"Department of Electrical Engineering University of Kentucky Lexington, KY 40506-0046"}]},{"given":"Bruce L.","family":"Walcott","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering University of Kentucky Lexington, KY 40506-0046"}]}],"member":"179","published-online":{"date-parts":[[1993,1,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"crossref","unstructured":"Cannon, R.H. and Schmitz, E. \"Initial experiments on the end-point control of a flexible one-link robot,\" Int. J. Robotics Res., Vol. 3, No. 3, pp. 62-75,1984.","DOI":"10.1177\/027836498400300303"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1981.1102785"},{"key":"atypb3","volume-title":"J.A. ANSYS Engineering Analysis User's Manual","author":"DeSalvo, G.J.","year":"1988"},{"key":"atypb4","unstructured":"Hastings, G.G. and Book, W.J. \"Experiments in optimal control of a flexible arm,\" Proc. of 1985 ACC , pp. 728-729, 1985."},{"key":"atypb5","volume-title":"Control Systems of Variable Structure","author":"Itkis, U.","year":"1976"},{"key":"atypb6","doi-asserted-by":"crossref","unstructured":"Khorrami, F. and Ozguner, U. \"Perturbation methods in control of flexible link manipulators,\" Proc. of 1988 Robotics and Automat. Conf., pp. 310-315,1988.","DOI":"10.1109\/ROBOT.1988.12066"},{"key":"atypb7","doi-asserted-by":"crossref","unstructured":"Korlov, V.V. and Chen, Y.H. \"Robust control of a flexible manipulator arm,\" Proc. of 1988 Robotics and Automat. Conf., pp. 159-164, 1988.","DOI":"10.1109\/ROBOT.1988.12041"},{"key":"atypb8","first-page":"825","author":"Meldrum, D.R.","year":"1986","journal-title":"Proc. of 1986 ACC"},{"key":"atypb9","volume-title":"\"Analysis and Self-Tuning Control of a Rotating Compliant Link,\" Ph.D. Thesis","author":"Nemir, D.C.","year":"1986"},{"key":"atypb10","doi-asserted-by":"crossref","unstructured":"Nemir, D.C., Koivo, A.J. and R.L. Kashyap, \"Pseudolinks and the self-tuning control of a nonrigid link mechanism,\" IEEE Trans. on Systems, Man, and Cyber. , Vol. 18, No. 1, pp. 40-48, 1988.","DOI":"10.1109\/21.87053"},{"key":"atypb11","volume-title":"Sliding Modes and Their Application in Variable Structure Systems","author":"Utkin, V.I.","year":"1978"},{"key":"atypb12","doi-asserted-by":"publisher","DOI":"10.1109\/21.87057"},{"key":"atypb13","doi-asserted-by":"crossref","unstructured":"Wang, D. and Vidyasagar, M. \"Modeling of a 5-bar linkage manipulator with one flexible link,\" Proc. of 1988 Robotics and Automat. Conf., pp. 21-26,1988.","DOI":"10.1109\/ROBOT.1988.12018"},{"key":"atypb14","unstructured":"Widmann, G.R. \"Control system design of robots with flexible joints,\" in Recent Trends in Robotics: Modeling, Control and Education, M. Jamishidi, J.Y.S Luh, and M. Shahinpoor, Eds. New York: Elsevier, 1986, pp. 145-150."}],"container-title":["SIMULATION"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/003754979306000105","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/003754979306000105","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T11:08:37Z","timestamp":1777633717000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/003754979306000105"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1993,1]]},"references-count":14,"journal-issue":{"issue":"1","published-print":{"date-parts":[[1993,1]]}},"alternative-id":["10.1177\/003754979306000105"],"URL":"https:\/\/doi.org\/10.1177\/003754979306000105","relation":{},"ISSN":["0037-5497","1741-3133"],"issn-type":[{"value":"0037-5497","type":"print"},{"value":"1741-3133","type":"electronic"}],"subject":[],"published":{"date-parts":[[1993,1]]}}}