{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,7]],"date-time":"2026-07-07T05:41:06Z","timestamp":1783402866063,"version":"3.54.6"},"reference-count":13,"publisher":"SAGE Publications","issue":"8","license":[{"start":{"date-parts":[[2001,8,1]],"date-time":"2001-08-01T00:00:00Z","timestamp":996624000000},"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":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2001,8]]},"abstract":"<jats:p>Flexible robots have given rise to numerous investigations, and their use is easily justified in two main cases: (1) when the weight of the robot has to be minimized and (2) when collisions of the robot with the environment are foreseen, as a flexible lightweight robot delivers less impact energy. Much work has been done by different authors on the position control of flexible robots using feedback of the tip position or tip acceleration. However, the use of these sensing devices is problematic in practical applications of flexible arms: three-dimensional tip position sensing is expensive, and occlusions appear at some arm configurations. Accelerometers cannot be used when contact of the tip with the environment is expected because these sensors cannot stand the high negative accelerations produced at the impact (unless very low speed motions are performed). This paper studies the possibility of carrying out the tip position control of a three-degree-of-freedom flexible arm using sensing devices placed far away from the tip (where contact is expected) in such way that they can easily stand the impact, which will be needed in the development of a position\/force control for flexible robots. A control scheme based on motor position sensing plus some strain gauges placed on the arm structure is proposed. Stability of this control scheme is proven and is experimentally verified on a flexible manipulator prototype that was developed in the authors\u2019 laboratory.<\/jats:p>","DOI":"10.1177\/02783640122067598","type":"journal-article","created":{"date-parts":[[2003,7,19]],"date-time":"2003-07-19T01:53:44Z","timestamp":1058579624000},"page":"660-675","source":"Crossref","is-referenced-by-count":23,"title":["Gauge-Based Tip Position Control of a New Three-Degree-of-Freedom Flexible Robot"],"prefix":"10.1177","volume":"20","author":[{"given":"V.","family":"Feliu","sequence":"first","affiliation":[{"name":"Escuela T\u00e9cnica Superior de Ingenieros Industriales,                         Universidad de Castilla\u2013La Mancha, Campus Universitario s\/n, 13071                         Ciudad Real, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"A.","family":"Garc\u00eda","sequence":"additional","affiliation":[{"name":"Escuela T\u00e9cnica Superior de Ingenieros Industriales,                         Universidad de Castilla\u2013La Mancha, Campus Universitario s\/n, 13071                         Ciudad Real, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"J. A.","family":"Somolinos","sequence":"additional","affiliation":[{"name":"Escuela T\u00e9cnica Superior de Ingenieros Industriales,                         Universidad de Castilla\u2013La Mancha, Campus Universitario s\/n, 13071                         Ciudad Real, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2001,8,1]]},"reference":[{"key":"atypb1","unstructured":"Chapnik, B. V., Heppler, G. R., and Aplevich, J. D. 1990. Controlling the impact response of a one-link flexible robotic arm . IEEE International Conference on Robotics and Automation, Vol. 1, Cincinnati, OH, May."},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1109\/70.795785"},{"key":"atypb3","unstructured":"Feliu, V., Rattan, K. S., and Brown, H. B. 1989. Kinematics of a three degrees of freedom\u2013two links lightweight flexible arm . Proceedings of the 6th IFAC\/IFIP\/IFORS\/IMACS Symposium on Information Control Problems in Manufacturing Technology, Madrid, Spain, pp. 177\u2013182 ."},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620120102"},{"key":"atypb5","unstructured":"Garc\u00eda, A., and Feliu, V. 1999. Estudio comparativo de diferentes sistemas de control de fuerza en un robot flexible de un grado de libertad: aplicaci\u00f3n al caso de colisi\u00f3n con el entorno . Revista Iberoamericana de Ingenier\u00eda Mec\u00e1nica 3: 57\u201376 ."},{"key":"atypb6","doi-asserted-by":"crossref","unstructured":"Kotnik, P. T., Yurkovich, S., and \u00d6zg\u00fcner, U. 1988. Acceleration feedback control for a flexible manipulator arm . IEEE International Conference on Robotics and Automation, pp. 322\u2013323 .","DOI":"10.1109\/ROBOT.1988.12068"},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1115\/1.2802382"},{"key":"atypb8","doi-asserted-by":"crossref","unstructured":"Nemir, D., Koivo, A. J., and Kashyap, R. L. 1986. Control of gripper position of a compliant link using strain gauge measurement . Proceedings of the 25th Conference on Decision and Control, Athens, Greece, December, pp. 1140\u20131144 .","DOI":"10.1109\/CDC.1986.267560"},{"key":"atypb9","unstructured":"Pfeiffer, F., Bremer, H., and Figueiredo, J. 1996. Surface polishing with flexible link manipulator . European Journal of Mechanics and Solids 15: 137\u2013153 ."},{"key":"atypb10","doi-asserted-by":"crossref","unstructured":"Sakawa, Y., and Matsumo, F. 1986. Modelling and control of a flexible manipulator with a parallel drive mechanism . International Journal of Control 4: 299\u2013313 .","DOI":"10.1080\/00207178608933600"},{"key":"atypb11","unstructured":"Somolinos, J. A., Feliu, V., S\u00e1nchez, L., and Cerrada, J. A. 1999a. Design and experimental validation of a new three-degree-of-freedom flexible arm with simplified dynamics . IFAC 14th Triennial World Congress, Beijing, China, pp. 101\u2013106 ."},{"key":"atypb12","doi-asserted-by":"crossref","unstructured":"Somolinos, J. A., Feliu, V., S\u00e1nchez, L., and Cerrada, J. A. 1999b. Modeling and control of a new three-degree-of-freedom flexible arm with simplified dynamics . 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