{"id":"https://openalex.org/W2075957732","doi":"https://doi.org/10.1002/rob.4620110609","title":"Unconstrained and constrained motion control of a planar two\u2010link structurally flexible robotic manipulator","display_name":"Unconstrained and constrained motion control of a planar two\u2010link structurally flexible robotic manipulator","publication_year":1994,"publication_date":"1994-01-01","ids":{"openalex":"https://openalex.org/W2075957732","doi":"https://doi.org/10.1002/rob.4620110609","mag":"2075957732"},"language":"en","primary_location":{"id":"doi:10.1002/rob.4620110609","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620110609","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/A5010156012","display_name":"Byung Oh Choi","orcid":null},"institutions":[{"id":"https://openalex.org/I20382870","display_name":"Missouri University of Science and Technology","ror":"https://ror.org/00scwqd12","country_code":"US","type":"education","lineage":["https://openalex.org/I20382870"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"B.\u2010O. Choi","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering and Engineering Mechanics University of Missouri-Rolla Rolla, Missouri 65401\u20130249","Department of Mechanical and Aerospace Engineering and Engineering Mechanics, University of Missouri-Rolla, Rolla, Missouri 65401\u20130249"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering and Engineering Mechanics University of Missouri-Rolla Rolla, Missouri 65401\u20130249","institution_ids":["https://openalex.org/I20382870"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering and Engineering Mechanics, University of Missouri-Rolla, Rolla, Missouri 65401\u20130249","institution_ids":["https://openalex.org/I20382870"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043416007","display_name":"K. Krishnamurthy","orcid":"https://orcid.org/0000-0002-0219-6153"},"institutions":[{"id":"https://openalex.org/I20382870","display_name":"Missouri University of Science and Technology","ror":"https://ror.org/00scwqd12","country_code":"US","type":"education","lineage":["https://openalex.org/I20382870"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"K. Krishnamurthy","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering and Engineering Mechanics University of Missouri-Rolla Rolla, Missouri 65401\u20130249","Department of Mechanical and Aerospace Engineering and Engineering Mechanics, University of Missouri-Rolla, Rolla, Missouri 65401\u20130249"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering and Engineering Mechanics University of Missouri-Rolla Rolla, Missouri 65401\u20130249","institution_ids":["https://openalex.org/I20382870"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering and Engineering Mechanics, University of Missouri-Rolla, Rolla, Missouri 65401\u20130249","institution_ids":["https://openalex.org/I20382870"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5043416007"],"corresponding_institution_ids":["https://openalex.org/I20382870"],"apc_list":null,"apc_paid":null,"fwci":1.6752,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.84305897,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"11","issue":"6","first_page":"557","last_page":"571"},"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":0.9998999834060669,"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":0.9998999834060669,"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":0.9995999932289124,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9986000061035156,"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":0.8413732051849365},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.7352946996688843},{"id":"https://openalex.org/keywords/linear-quadratic-gaussian-control","display_name":"Linear-quadratic-Gaussian control","score":0.6333573460578918},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.5745234489440918},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5157039761543274},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.46733033657073975},{"id":"https://openalex.org/keywords/linear-quadratic-regulator","display_name":"Linear-quadratic regulator","score":0.46473196148872375},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4576583802700043},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4259764552116394},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.3857797682285309},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3530835509300232},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.35114747285842896},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3239617347717285},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2596783936023712},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2568591237068176},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15053299069404602},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10705170035362244},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.0906125009059906},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08616939187049866}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8413732051849365},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.7352946996688843},{"id":"https://openalex.org/C204495892","wikidata":"https://www.wikidata.org/wiki/Q1798304","display_name":"Linear-quadratic-Gaussian control","level":3,"score":0.6333573460578918},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.5745234489440918},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5157039761543274},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.46733033657073975},{"id":"https://openalex.org/C98779006","wikidata":"https://www.wikidata.org/wiki/Q2520550","display_name":"Linear-quadratic regulator","level":3,"score":0.46473196148872375},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4576583802700043},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4259764552116394},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.3857797682285309},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3530835509300232},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.35114747285842896},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3239617347717285},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2596783936023712},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2568591237068176},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15053299069404602},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10705170035362244},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.0906125009059906},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08616939187049866},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/rob.4620110609","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620110609","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":[{"id":"https://metadata.un.org/sdg/7","score":0.4099999964237213,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1006261305","https://openalex.org/W1561923484","https://openalex.org/W1594049438","https://openalex.org/W1753351857","https://openalex.org/W1945460095","https://openalex.org/W1965928662","https://openalex.org/W1967377907","https://openalex.org/W1979435356","https://openalex.org/W1982317091","https://openalex.org/W1982745175","https://openalex.org/W1997520484","https://openalex.org/W2005440268","https://openalex.org/W2015524277","https://openalex.org/W2016958754","https://openalex.org/W2030033366","https://openalex.org/W2031002262","https://openalex.org/W2034052310","https://openalex.org/W2059408607","https://openalex.org/W2090035301","https://openalex.org/W2092635759","https://openalex.org/W2094900241","https://openalex.org/W2098163541","https://openalex.org/W2104695963","https://openalex.org/W2105015109","https://openalex.org/W2105311739","https://openalex.org/W2105360813","https://openalex.org/W2121375095","https://openalex.org/W2135335525","https://openalex.org/W2142802129","https://openalex.org/W2142818127","https://openalex.org/W2150367199","https://openalex.org/W2150463064","https://openalex.org/W2156102255","https://openalex.org/W2160641955","https://openalex.org/W2162572705","https://openalex.org/W2320691508","https://openalex.org/W2331333347","https://openalex.org/W4245977633"],"related_works":["https://openalex.org/W3777868","https://openalex.org/W1990910969","https://openalex.org/W2051766198","https://openalex.org/W2915806395","https://openalex.org/W234468389","https://openalex.org/W2007152535","https://openalex.org/W3041379944","https://openalex.org/W2067197839","https://openalex.org/W2364244763","https://openalex.org/W2765598728"],"abstract_inverted_index":{"Abstract":[0],"Unconstrained":[1],"and":[2,29,65,80,93,108,138,141],"constrained":[3],"motion":[4,43],"control":[5,52,59,67,131],"of":[6,42],"a":[7,77,128],"planar":[8],"two\u2010link":[9],"structurally\u2010flexible":[10],"robotic":[11,160],"manipulator":[12,75,107],"are":[13,96,151],"considered":[14],"in":[15,44,49],"this":[16],"study.":[17],"The":[18,54,69,91,120],"dynamic":[19],"model":[20],"is":[21,35,61,124],"obtained":[22,97],"by":[23,98],"using":[24],"the":[25,30,39,51,58,73,81,88,100,105],"extended":[26],"Hamilton's":[27],"principle":[28],"Galerkin":[31],"criterion.":[32],"A":[33],"method":[34],"presented":[36,152],"to":[37,56,62,126],"obtain":[38],"linearized":[40],"equations":[41],"Cartesian":[45,144],"space":[46,145],"for":[47,104,153],"use":[48,63],"designing":[50,109],"system.":[53],"approach":[55],"solving":[57,99],"problem":[60,103],"feedforward":[64,70,92],"feedback":[66,82,94,130],"torques.":[68],"torques":[71,83,95],"maneuver":[72],"flexible":[74,159],"along":[76],"nominal":[78,89],"trajectory":[79,146],"minimize":[84],"any":[85],"deviations":[86],"from":[87],"trajectory.":[90],"inverse":[101],"dynamics":[102],"rigid":[106],"linear":[110],"quadratic":[111],"Gaussian":[112],"with":[113],"loop":[114],"transfer":[115],"recovery":[116],"(LQG/LTR)":[117],"compensators,":[118],"respectively.":[119],"LQG/LTR":[121],"design":[122,127],"methodology":[123],"exploited":[125],"robust":[129],"system":[132],"that":[133],"can":[134],"handle":[135],"modeling":[136],"errors":[137],"sensor":[139],"noise,":[140],"operate":[142],"on":[143],"errors.":[147],"Computer":[148],"simulated":[149],"results":[150],"an":[154],"example":[155],"planar,":[156],"two\u2010link,":[157],"structurally":[158],"manipulator.":[161],"\u00a9":[162],"1994":[163],"John":[164],"Wiley":[165],"&amp;":[166],"Sons,":[167],"Inc.":[168]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
