{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T06:50:44Z","timestamp":1777704644120,"version":"3.51.4"},"reference-count":22,"publisher":"SAGE Publications","issue":"6","license":[{"start":{"date-parts":[[2020,5,15]],"date-time":"2020-05-15T00:00:00Z","timestamp":1589500800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Journal of Intelligent &amp; Fuzzy Systems"],"published-print":{"date-parts":[[2020,6,25]]},"abstract":"<jats:p>In the past, in the process of tracking and controlling the discretely-actuated manipulator, the tracking result has a large error. To this end, a control system of trajectory tracking of discretely-actuated manipulator based on computed torque method was designed. The overall framework of the system was analyzed and designed, and the hardware of the system was designed in an integrated DSP information processing environment. The design of the monocular stereo sensor, drive controller, servo drive, etc. was described in detail. Then the control algorithm, the computed torque method, was analyzed. Finally, with the help of the control platform of discretely-actuated manipulator, the control system of trajectory tracking of discretely-actuated manipulator based on computed torque method was verified. After the different control algorithms were added, the trajectory tracking accuracy of the discretely-actuated manipulator was compared. The experimental results show that the maximum errors of each joint in the system are 0.0568 rad, 0.0347 rad and 0.0044 rad, which are lower than the traditional system, it is shows that the reliability of the system is verified.<\/jats:p>","DOI":"10.3233\/jifs-179829","type":"journal-article","created":{"date-parts":[[2020,5,15]],"date-time":"2020-05-15T12:46:04Z","timestamp":1589546764000},"page":"7575-7584","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":3,"title":["Control system of trajectory tracking of discretely-actuated manipulator based on computed torque method"],"prefix":"10.1177","volume":"38","author":[{"given":"Jinghong","family":"Li","sequence":"first","affiliation":[{"name":"Faculty of Mechanical Engineering and Automation, Zhejiang Sci-Tech University, Hangzhou, China"},{"name":"Faculty of Mechanical, Shanghai Dianji University, Shanghai, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qiang","family":"Wang","sequence":"additional","affiliation":[{"name":"Faculty of Mechanical, Shanghai Dianji University, Shanghai, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2020,5,15]]},"reference":[{"key":"e_1_3_1_2_2","first-page":"930","article-title":"Robotic-arm assisted total knee arthroplasty is associated with improved early functional recovery and reduced time to hospital discharge compared with conventional jig-based total knee arthroplasty","volume":"100","author":"Kayani B.","year":"2018","unstructured":"KayaniB., KonanS., TahmassebiJ., et al., Robotic-arm assisted total knee arthroplasty is associated with improved early functional recovery and reduced time to hospital discharge compared with conventional jig-based total knee arthroplasty, Bone & Joint Journal100 (2018), 930.","journal-title":"Bone & Joint Journal"},{"key":"e_1_3_1_3_2","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2017.2704025"},{"key":"e_1_3_1_4_2","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2015.2478857"},{"key":"e_1_3_1_5_2","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2015.2452217"},{"key":"e_1_3_1_6_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.aao4284"},{"key":"e_1_3_1_7_2","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2018.2872607"},{"key":"e_1_3_1_8_2","doi-asserted-by":"publisher","DOI":"10.1109\/TFUZZ.2018.2882170"},{"key":"e_1_3_1_9_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.asr.2017.07.012"},{"key":"e_1_3_1_10_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2019.2907510"},{"key":"e_1_3_1_11_2","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2017.2734053"},{"key":"e_1_3_1_12_2","first-page":"12","article-title":"Research and simulation of optimal control for sampling manipulator based on lqr","volume":"5","author":"Zhu Q.H.","year":"2018","unstructured":"ZhuQ.H., ZhangB.E., DingW., et al., Research and simulation of optimal control for sampling manipulator based on lqr, Automation & Instrumentation5 (2018), 12\u201314.","journal-title":"Automation & Instrumentation"},{"key":"e_1_3_1_13_2","first-page":"5","article-title":"Study on dynamic control of obstacle avoidance for redundant space manipulator","volume":"36","author":"Sui T.T.","year":"2019","unstructured":"SuiT.T., MaX., GuoJ., et al., Study on dynamic control of obstacle avoidance for redundant space manipulator, Computer Simulation36 (2019), 5.","journal-title":"Computer Simulation"},{"key":"e_1_3_1_14_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10921-018-0490-4"},{"key":"e_1_3_1_15_2","doi-asserted-by":"publisher","DOI":"10.4064\/cm6959-8-2016"},{"key":"e_1_3_1_16_2","doi-asserted-by":"publisher","DOI":"10.4064\/cm6713-8-2016"},{"key":"e_1_3_1_17_2","doi-asserted-by":"publisher","DOI":"10.3233\/JIFS-169367"},{"key":"e_1_3_1_18_2","doi-asserted-by":"publisher","DOI":"10.21042\/AMNS.2018.1.00017"},{"key":"e_1_3_1_19_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIM.2018.2887068"},{"key":"e_1_3_1_20_2","doi-asserted-by":"publisher","DOI":"10.21042\/AMNS.2018.1.00008"},{"key":"e_1_3_1_21_2","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2018.2794523"},{"key":"e_1_3_1_22_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2017.12.073"},{"key":"e_1_3_1_23_2","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2017.2728518"}],"container-title":["Journal of Intelligent &amp; 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