{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,3,4]],"date-time":"2025-03-04T12:10:07Z","timestamp":1741090207177,"version":"3.38.0"},"reference-count":15,"publisher":"SAGE Publications","issue":"4","license":[{"start":{"date-parts":[[1999,4,1]],"date-time":"1999-04-01T00:00:00Z","timestamp":922924800000},"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":[[1999,4]]},"abstract":"<jats:p> In this paper, a dynamic model of a distributed parameter system and a control architecture are developed for the closed-chain motion of two two-link flexible manipulators holding a common rigid object in a horizontal workspace. We derive the dynamic relation of deformation of the flexible links, constraint force, and rigid-object dynamics. Use of the quasi-static relation of the deformation, the constraint force, and the rigid-object dynamics gives quasi-static equations of joint angles which are not dependent on the variables related to the deformations of the flexible links. We design a robust cooperative controller of the two flexible manipulators considering measurement disturbances and modeling errors caused by the link-parameter uncertainty and the quasi-static approximation. A set of experiments for the cooperative control of the two flexible manipulators using a force sensor has been carried out. Several experimental results are shown. <\/jats:p>","DOI":"10.1177\/02783649922066295","type":"journal-article","created":{"date-parts":[[2003,7,19]],"date-time":"2003-07-19T06:59:46Z","timestamp":1058597986000},"page":"414-428","source":"Crossref","is-referenced-by-count":13,"title":["Robust Cooperative Control of Two Two-Link Flexible Manipulators on the Basis                 of Quasi-Static Equations"],"prefix":"10.1177","volume":"18","author":[{"given":"Fumitoshi","family":"Matsuno","sequence":"first","affiliation":[{"name":"Department of Computational Intelligence and Systems Science,                         Interdisciplinary Graduate School of Science and Engineering, Tokyo                         Institute of Technology, Midori, Yokohama 226-8502, Japan"}]},{"given":"Michinori","family":"Hatayama","sequence":"additional","affiliation":[{"name":"Department of Computational Intelligence and Systems Science,                         Interdisciplinary Graduate School of Science and Engineering, Tokyo                         Institute of Technology, Midori, Yokohama 226-8502, Japan"}]}],"member":"179","published-online":{"date-parts":[[1999,4,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1115\/1.2896192"},{"key":"atypb2","doi-asserted-by":"crossref","unstructured":"Glover, K., and Doyle, J. C. 1988. State-space formulae for stabilizing controllers that satisfy an H1 norm bound and relations to risk sensitivity . Sys. Control Lett. 11(2): 162\u2013172 .","DOI":"10.1016\/0167-6911(88)90055-2"},{"key":"atypb3","unstructured":"Hashimoto, K., Kimoto, T., et al. 1991 (November 3\u20135, Osaka, Japan). H 1 model-based robust control of a manipulator . Proc. of the IEEE\/RSJ Intl. Workshop on Intell. Robot Sys. Los Alamitos, CA: IEEE."},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1115\/1.2899228"},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1115\/1.2896470"},{"key":"atypb6","doi-asserted-by":"crossref","unstructured":"Luh, J. Y., and Zheng, Y. F. 1987. Constrained relations between two coordinated industrial robots for motion control . Intl. J. Robot. Res. 6(3): 60\u201370 .","DOI":"10.1177\/027836498700600304"},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1109\/70.294204"},{"key":"atypb8","unstructured":"Matsuno, F., and Hatayama, M. 1995 (May 24\u201326, Nagoya, Japan). Quasi-static cooperative control of two two-link flexible manipulators . Proc. of the IEEE Intl. Conf. on Robot. and Automat. Washington, DC: IEEE."},{"key":"atypb9","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1097-4563(199808)15:8<447::AID-ROB2>3.0.CO;2-L"},{"key":"atypb10","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620110503"},{"key":"atypb11","doi-asserted-by":"crossref","unstructured":"Mills, J. K. 1992. Stability and control aspects of flexible link robot manipulators during constrained motion tasks . J. Robot. Sys. 9(7): 935\u2013953 .","DOI":"10.1002\/rob.4620090705"},{"key":"atypb12","unstructured":"Rocco, P., and Book, W. J. 1996 (April 24\u201326, Minneapolis, MN). Modeling for two-time scale force\/position control of flexible robots . Proc. of the IEEE Intl. Conf. on Robot. and Automat. Washington, DC: IEEE."},{"key":"atypb13","doi-asserted-by":"publisher","DOI":"10.1109\/70.143355"},{"key":"atypb14","doi-asserted-by":"publisher","DOI":"10.1109\/70.508447"},{"key":"atypb15","doi-asserted-by":"publisher","DOI":"10.1177\/027836499301200107"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/02783649922066295","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/02783649922066295","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,4]],"date-time":"2025-03-04T11:00:27Z","timestamp":1741086027000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/02783649922066295"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1999,4]]},"references-count":15,"journal-issue":{"issue":"4","published-print":{"date-parts":[[1999,4]]}},"alternative-id":["10.1177\/02783649922066295"],"URL":"https:\/\/doi.org\/10.1177\/02783649922066295","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"type":"print","value":"0278-3649"},{"type":"electronic","value":"1741-3176"}],"subject":[],"published":{"date-parts":[[1999,4]]}}}