{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,31]],"date-time":"2026-03-31T09:28:03Z","timestamp":1774949283878,"version":"3.50.1"},"reference-count":23,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2020,5,27]],"date-time":"2020-05-27T00:00:00Z","timestamp":1590537600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["ASI"],"abstract":"<jats:p>Throughout this paper, the model, its parameter estimation and a controller for a solution using a DC motor with a gearbox worm, coupled to a non-rigid joint, will be presented. First, the modeling of a non-linear system based on a DC Motor with Worm Gearbox coupled to a non-rigid joint is presented. The full system was modeled based on the modeling of two sub-systems that compose it\u2014a non-rigid joint configuration and the DC motor with the worm gearbox configuration. Despite the subsystems are interdependent, its modelling can be performed independently trough a carefully chosen set of experiments. Modeling accurately the system is crucial in order to simulate and know the expected performance. The estimation process and the proposed experimental setup are presented. This setup collects data from an absolute encoder, a load cell, voltage and current sensors. The data obtained from these sensors is presented and used to obtaining some physical parameters from both systems. Finally, through an optimization process, the remaining parameters are estimated, thus obtaining a realistic model of the complete system. Finally, the controller setup is presented and the results obtained are also presented.<\/jats:p>","DOI":"10.3390\/asi3020024","type":"journal-article","created":{"date-parts":[[2020,5,28]],"date-time":"2020-05-28T08:27:48Z","timestamp":1590654468000},"page":"24","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":12,"title":["Modeling and Control of a DC Motor Coupled to a Non-Rigid Joint"],"prefix":"10.3390","volume":"3","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7840-0333","authenticated-orcid":false,"given":"V\u00edtor","family":"Pinto","sequence":"first","affiliation":[{"name":"FEUP\u2014Faculty of Engineering, University of Porto, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal"},{"name":"INESC TEC\u2014Institute for Systems and Computer Engineering, Technology and Science, CRIIS\u2014Centre for Robotics in Industry and Intelligent Systems, Campus of FEUP, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5499-1730","authenticated-orcid":false,"given":"Jos\u00e9","family":"Gon\u00e7alves","sequence":"additional","affiliation":[{"name":"CeDRI\u2014Research Centre in Digitalization and Intelligent Robotics, School of Technology and Management Polytechnic Institute of Bragan\u00e7a, Santa Apol\u00f3nia Campus, 5300-253 Bragan\u00e7a, Portugal"}]},{"given":"Paulo","family":"Costa","sequence":"additional","affiliation":[{"name":"FEUP\u2014Faculty of Engineering, University of Porto, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal"},{"name":"INESC TEC\u2014Institute for Systems and Computer Engineering, Technology and Science, CRIIS\u2014Centre for Robotics in Industry and Intelligent Systems, Campus of FEUP, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal"}]}],"member":"1968","published-online":{"date-parts":[[2020,5,27]]},"reference":[{"key":"ref_1","first-page":"1","article-title":"Legged Robots","volume":"Volume 83","author":"Semini","year":"2020","journal-title":"Springer Encyclopedia of Robotics"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"439","DOI":"10.1016\/j.ymssp.2016.06.023","article-title":"State estimation of a compound non-smooth sandwich system with backlash and dead zone","volume":"83","author":"Zhou","year":"2017","journal-title":"Mech. 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