{"id":"https://openalex.org/W1963634805","doi":"https://doi.org/10.1002/rob.4620090705","title":"Stability and control aspects of flexible link robot manipulators during constrained motion tasks","display_name":"Stability and control aspects of flexible link robot manipulators during constrained motion tasks","publication_year":1992,"publication_date":"1992-10-01","ids":{"openalex":"https://openalex.org/W1963634805","doi":"https://doi.org/10.1002/rob.4620090705","mag":"1963634805"},"language":"en","primary_location":{"id":"doi:10.1002/rob.4620090705","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620090705","pdf_url":null,"source":{"id":"https://openalex.org/S6068926","display_name":"Journal of Robotic Systems","issn_l":"0741-2223","issn":["0741-2223","1097-4563"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5001918826","display_name":"James K. Mills","orcid":"https://orcid.org/0000-0001-7651-9552"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"James K. Mills","raw_affiliation_strings":["Laboratory For Nonlinear Systems Control Department of Mechanical Engineering University of Toronto Toronto, Ontario, Canada M5S 1A4","Laboratory for Nonlinear Systems Control, Department of Mechanical Engineering, University of Toronto, Toronto, Ontario, Canada M5S 1A4"],"affiliations":[{"raw_affiliation_string":"Laboratory For Nonlinear Systems Control Department of Mechanical Engineering University of Toronto Toronto, Ontario, Canada M5S 1A4","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"Laboratory for Nonlinear Systems Control, Department of Mechanical Engineering, University of Toronto, Toronto, Ontario, Canada M5S 1A4","institution_ids":["https://openalex.org/I185261750"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5001918826"],"corresponding_institution_ids":["https://openalex.org/I185261750"],"apc_list":null,"apc_paid":null,"fwci":4.1408,"has_fulltext":false,"cited_by_count":42,"citation_normalized_percentile":{"value":0.93161746,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":null,"biblio":{"volume":"9","issue":"7","first_page":"933","last_page":"953"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9879000186920166,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12206","display_name":"Vibration and Dynamic Analysis","score":0.9839000105857849,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7481586337089539},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.614372730255127},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5338699817657471},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5271422863006592},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5125896334648132},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4848881661891937},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46476492285728455},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4646690785884857},{"id":"https://openalex.org/keywords/link","display_name":"Link (geometry)","score":0.4532242715358734},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4488431215286255},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.438186913728714},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.41515955328941345},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33960747718811035},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2848624885082245},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20400378108024597},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17822420597076416},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13608205318450928}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7481586337089539},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.614372730255127},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5338699817657471},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5271422863006592},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5125896334648132},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4848881661891937},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46476492285728455},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4646690785884857},{"id":"https://openalex.org/C2778753846","wikidata":"https://www.wikidata.org/wiki/Q6554239","display_name":"Link (geometry)","level":2,"score":0.4532242715358734},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4488431215286255},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.438186913728714},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.41515955328941345},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33960747718811035},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2848624885082245},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20400378108024597},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17822420597076416},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13608205318450928},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/rob.4620090705","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620090705","pdf_url":null,"source":{"id":"https://openalex.org/S6068926","display_name":"Journal of Robotic Systems","issn_l":"0741-2223","issn":["0741-2223","1097-4563"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.7900000214576721}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W117774374","https://openalex.org/W1601011165","https://openalex.org/W1601993488","https://openalex.org/W1680450188","https://openalex.org/W1995090200","https://openalex.org/W1999928604","https://openalex.org/W2031030263","https://openalex.org/W2080992175","https://openalex.org/W2096816790","https://openalex.org/W2103610162","https://openalex.org/W2105015109","https://openalex.org/W2107957546","https://openalex.org/W2112937051","https://openalex.org/W2133712706","https://openalex.org/W2143121610","https://openalex.org/W2150549237","https://openalex.org/W2151568495","https://openalex.org/W2152737511","https://openalex.org/W2158070096","https://openalex.org/W2162612416","https://openalex.org/W2490168164","https://openalex.org/W2590114338","https://openalex.org/W4250593323","https://openalex.org/W4298290699"],"related_works":["https://openalex.org/W1518185400","https://openalex.org/W3200586296","https://openalex.org/W4230332972","https://openalex.org/W1998033311","https://openalex.org/W4247322236","https://openalex.org/W4231165741","https://openalex.org/W233457313","https://openalex.org/W1941703695","https://openalex.org/W4295104149","https://openalex.org/W1762272577"],"abstract_inverted_index":{"Abstract":[0],"The":[1,40,81,146],"effect":[2],"of":[3,18,26,29,34,42,48,53,64,84,89,114,119,124,129,139,178,186,208,218,229,243,262],"robotic":[4,35,55],"manipulator":[5,36,56,93],"structural":[6,20,60,236],"compliance":[7,21],"on":[8,109,172,224],"system":[9,131],"stability":[10,51,132,138],"and":[11,15,50,142,191,249],"trajectory":[12,184,260],"tracking":[13,185,261],"performance":[14,207],"the":[16,24,32,46,69,78,110,117,122,127,130,137,140,150,174,187,206,209,219,225,241,244,253,263],"compensation":[17],"this":[19,43],"has":[22],"been":[23,201],"subject":[25,41],"a":[27,54,65,85,97,155,169],"number":[28],"publications":[30],"for":[31],"case":[33],"noncontact":[37],"task":[38,66],"execution.":[39],"article":[44],"is":[45,94,133,161],"examination":[47],"dynamics":[49,153],"issues":[52],"modeled":[57],"with":[58,96],"link":[59,92,112,176,227,237],"flexibility":[61],"during":[62,194,215],"execution":[63],"that":[67,163,234],"requires":[68],"robot":[70],"tip":[71],"to":[72,182,204,258],"contact":[73],"fixed":[74],"rigid":[75,111,175,226],"objects":[76],"in":[77,240],"work":[79],"environment.":[80],"dynamic":[82],"behavior":[83],"general":[86],"n":[87],"degree":[88],"freedom":[90],"flexible":[91],"investigated":[95,134],"previously":[98],"proposed":[99],"nonlinear":[100,210],"computed":[101,107,211],"torque":[102,212],"constrained":[103,195,216],"motion":[104,179,217],"control":[105,170,213],"applied,":[106],"based":[108,171,222],"equations":[113,177,228],"motion.":[115,196],"Through":[116],"use":[118],"techniques":[120],"from":[121],"theory":[123],"singular":[125],"perturbations,":[126],"analysis":[128],"by":[135],"examining":[136],"\u201cslow\u201d":[141],"\u201cfast\u201d":[143],"subsystem":[144,152,255],"dynamics.":[145],"conditions":[147,166],"under":[148],"which":[149],"fast":[151],"exhibit":[154],"stable":[156,248],"response":[157,242],"are":[158,167,246],"examined.":[159],"It":[160],"shown":[162],"if":[164],"certain":[165],"satisfied":[168],"only":[173,223],"will":[180],"lead":[181],"asymptotic":[183,259],"desired":[188],"generalized":[189],"position":[190],"force":[192],"trajectories":[193],"Experiments":[197],"reported":[198],"here":[199],"have":[200],"carried":[202],"out":[203],"investigate":[205],"law":[214],"manipulator.":[220],"While":[221],"motion,":[230],"experimental":[231],"results":[232],"confirm":[233],"high\u2010frequency":[235],"modes,":[238],"exhibited":[239],"robot,":[245],"asymptotically":[247],"do":[250],"not":[251],"destabilize":[252],"slow":[254],"dynamics,":[256],"leading":[257],"overall":[264],"system.":[265],"\u00a9":[266],"1992":[267],"John":[268],"Wiley":[269],"&":[270],"Sons,":[271],"Inc.":[272]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}