{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:51:54Z","timestamp":1777715514254,"version":"3.51.4"},"reference-count":18,"publisher":"SAGE Publications","issue":"4","license":[{"start":{"date-parts":[[1997,8,1]],"date-time":"1997-08-01T00:00:00Z","timestamp":870393600000},"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":[[1997,8]]},"abstract":"<jats:p>\n                    In this article, issues in the design of passive controllers for a class of multilink manipulators with the last link flexible are discussed. It is well known that for the single flexible-link manipulator, the mapping from the input torques to the joint ve locities is passive, whereas the mapping from the input torques to the derivative of net-tip movements (the usual output chosen) is not. However, if an appropriate output variable is selected, the transfer function can be made passive, provided that the hub inertia seen by a flexible link is sufficiently small. Then, by the Passivity theorem, using any strictly passive controller with finite gain will result in an L\n                    <jats:sub>2<\/jats:sub>\n                    -stable system. However, for a multilink industrial robot, the effective hub inertia seen by the flexible link is usually large. In addition, the dynamic equations are highly nonlinear. Approaches are examined for extending these passivity results to multilink manipulators. Experimental results are presented for a five-bar-linkage manipulator with the last link being flexible.\n                  <\/jats:p>","DOI":"10.1177\/027836499701600410","type":"journal-article","created":{"date-parts":[[2007,3,4]],"date-time":"2007-03-04T20:24:06Z","timestamp":1173039846000},"page":"577-588","source":"Crossref","is-referenced-by-count":6,"title":["Communication"],"prefix":"10.1177","volume":"16","author":[{"given":"Mauro","family":"Rossi","sequence":"first","affiliation":[{"name":"University of Waterloo Department of Electrical and Computer Engineering Waterloo, Ontario Canada, N2L 3G1"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"David","family":"Wang","sequence":"additional","affiliation":[{"name":"University of Waterloo Department of Electrical and Computer Engineering Waterloo, Ontario Canada, N2L 3G1"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"family":"Kai Zuo","sequence":"additional","affiliation":[{"name":"Chrysler Corporation 3700 Chelsea Manchester Road Chelsea, Michigan 48118"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[1997,8,1]]},"reference":[{"key":"atypb1","volume-title":"Inverse Dynamics of Flexible Robot Arms","author":"Asada, H.","year":"1988"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498900800604"},{"key":"atypb3","volume-title":"Proceedings of the 1990 IEEE International Conference on Robotics and Automation","author":"Bellezza, F."},{"key":"atypb4","volume-title":"Proceedings of the 1990 IEEE Conference on Decision and Control","author":"Book, W.J."},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1177\/027836498400300303"},{"key":"atypb6","volume-title":"Proceedings of the International Symposium on Intelligent Robotics","author":"De Luca, A."},{"key":"atypb7","volume-title":"Proceedings of the 1993 IEEE International Conference on Robotics and Automation","author":"Drapeau, V."},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1109\/9.237650"},{"key":"atypb9","volume-title":"Proceedings of the 1990 IEEE International Conference on Robotics and Automation","author":"Park, J.H."},{"key":"atypb10","volume-title":"Proceedings of the 1994 IEEE International Conference on Robotics and Automation","author":"Rossi, M."},{"key":"atypb11","volume-title":"Proceedings of the 1988 IEEE International Conference on Robotics and Automation","author":"Singer, N.C."},{"key":"atypb12","volume-title":"Applied Nonlinear Control","author":"Slotine, J. -J. E.","year":"1991"},{"key":"atypb13","volume-title":"Vibration Problems in Engineering","author":"Timoshenko, S.","year":"1955"},{"key":"atypb14","volume-title":"Input-Output Analysis of Large Scale Interconnected Systems","author":"Vidyasagar, M.","year":"1985"},{"key":"atypb15","volume-title":"Proceedings of the 1989 IEEE International Conference on Robotics and Automation","author":"Wang, D."},{"key":"atypb16","doi-asserted-by":"publisher","DOI":"10.1109\/70.127237"},{"key":"atypb17","doi-asserted-by":"publisher","DOI":"10.1177\/027836499201100606"},{"key":"atypb18","unstructured":"Zuo, K. 1992. Controller design strategies for a class of manipulators with a flexible link. MASc Thesis, University of Waterloo , pp. 59-77."}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836499701600410","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836499701600410","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:15:23Z","timestamp":1777457723000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/027836499701600410"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1997,8]]},"references-count":18,"journal-issue":{"issue":"4","published-print":{"date-parts":[[1997,8]]}},"alternative-id":["10.1177\/027836499701600410"],"URL":"https:\/\/doi.org\/10.1177\/027836499701600410","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[1997,8]]}}}