FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W2005669153> ?p ?o ?g. }

• W2005669153 endingPage "635" @default.
• W2005669153 startingPage "621" @default.
• W2005669153 abstract "SUMMARY A new control strategy based on the singular perturbation method and integral manifold concept is introduced for flexible-joint manipulators with joint friction. In controllers so far developed based on the singular perturbation theory, the dynamics of actuators of flexible-joint manipulators are partially modelled, and the coupling between actuators and links is ignored. This assumption leads to inaccuracy in control performance and error in trajectory tracking which is crucial in high-precision manipulation tasks. In this paper, a comprehensive dynamic model which takes into account the coupling between actuators and links is developed and a composite controller is then designed based on the singular perturbation theorem and integral manifold concept. To overcome the joint friction, a novel method is introduced in which a linear feed-forward torque is designed using the principle of work and energy. Finally, the experimental set-up of a single rigid-link flexible-joint manipulator in the Robotics Laboratory at the University of Saskatchewan is used to verify the proposed controller. Experimental results employing the new controller show that the trajectory tracking error during and at the end of the motion of the robot manipulator is significantly reduced." @default.
• W2005669153 created "2016-06-24" @default.
• W2005669153 creator A5008823893 @default.
• W2005669153 creator A5036263094 @default.
• W2005669153 creator A5056658465 @default.
• W2005669153 date "2009-08-27" @default.
• W2005669153 modified "2023-10-16" @default.
• W2005669153 title "A manoeuvre control strategy for flexible-joint manipulators with joint dry friction" @default.
• W2005669153 cites W1876723295 @default.
• W2005669153 cites W1986163623 @default.
• W2005669153 cites W1989913584 @default.
• W2005669153 cites W2007533072 @default.
• W2005669153 cites W2011352012 @default.
• W2005669153 cites W201173998 @default.
• W2005669153 cites W2028337110 @default.
• W2005669153 cites W2033023316 @default.
• W2005669153 cites W2040484781 @default.
• W2005669153 cites W2055884173 @default.
• W2005669153 cites W2072242545 @default.
• W2005669153 cites W2077597105 @default.
• W2005669153 cites W2079718774 @default.
• W2005669153 cites W2085365955 @default.
• W2005669153 cites W2089235969 @default.
• W2005669153 cites W2112849204 @default.
• W2005669153 cites W2135414729 @default.
• W2005669153 cites W2140175846 @default.
• W2005669153 cites W2143849990 @default.
• W2005669153 cites W2150024155 @default.
• W2005669153 cites W2150549237 @default.
• W2005669153 cites W2166271005 @default.
• W2005669153 cites W2169723076 @default.
• W2005669153 cites W4243419932 @default.
• W2005669153 cites W4298879022 @default.
• W2005669153 doi "https://doi.org/10.1017/s0263574709990373" @default.
• W2005669153 hasPublicationYear "2009" @default.
• W2005669153 type Work @default.
• W2005669153 sameAs 2005669153 @default.
• W2005669153 citedByCount "10" @default.
• W2005669153 countsByYear W20056691532014 @default.
• W2005669153 countsByYear W20056691532015 @default.
• W2005669153 countsByYear W20056691532017 @default.
• W2005669153 countsByYear W20056691532018 @default.
• W2005669153 countsByYear W20056691532019 @default.
• W2005669153 countsByYear W20056691532022 @default.
• W2005669153 crossrefType "journal-article" @default.
• W2005669153 hasAuthorship W2005669153A5008823893 @default.
• W2005669153 hasAuthorship W2005669153A5036263094 @default.
• W2005669153 hasAuthorship W2005669153A5056658465 @default.
• W2005669153 hasConcept C121332964 @default.
• W2005669153 hasConcept C127413603 @default.
• W2005669153 hasConcept C1276947 @default.
• W2005669153 hasConcept C133731056 @default.
• W2005669153 hasConcept C134306372 @default.
• W2005669153 hasConcept C13662910 @default.
• W2005669153 hasConcept C144171764 @default.
• W2005669153 hasConcept C154945302 @default.
• W2005669153 hasConcept C165160513 @default.
• W2005669153 hasConcept C172707124 @default.
• W2005669153 hasConcept C177918212 @default.
• W2005669153 hasConcept C183356978 @default.
• W2005669153 hasConcept C203479927 @default.
• W2005669153 hasConcept C2775924081 @default.
• W2005669153 hasConcept C33923547 @default.
• W2005669153 hasConcept C34413123 @default.
• W2005669153 hasConcept C41008148 @default.
• W2005669153 hasConcept C47446073 @default.
• W2005669153 hasConcept C62520636 @default.
• W2005669153 hasConcept C6557445 @default.
• W2005669153 hasConcept C86803240 @default.
• W2005669153 hasConcept C90509273 @default.
• W2005669153 hasConcept C97355855 @default.
• W2005669153 hasConceptScore W2005669153C121332964 @default.
• W2005669153 hasConceptScore W2005669153C127413603 @default.
• W2005669153 hasConceptScore W2005669153C1276947 @default.
• W2005669153 hasConceptScore W2005669153C133731056 @default.
• W2005669153 hasConceptScore W2005669153C134306372 @default.
• W2005669153 hasConceptScore W2005669153C13662910 @default.
• W2005669153 hasConceptScore W2005669153C144171764 @default.
• W2005669153 hasConceptScore W2005669153C154945302 @default.
• W2005669153 hasConceptScore W2005669153C165160513 @default.
• W2005669153 hasConceptScore W2005669153C172707124 @default.
• W2005669153 hasConceptScore W2005669153C177918212 @default.
• W2005669153 hasConceptScore W2005669153C183356978 @default.
• W2005669153 hasConceptScore W2005669153C203479927 @default.
• W2005669153 hasConceptScore W2005669153C2775924081 @default.
• W2005669153 hasConceptScore W2005669153C33923547 @default.
• W2005669153 hasConceptScore W2005669153C34413123 @default.
• W2005669153 hasConceptScore W2005669153C41008148 @default.
• W2005669153 hasConceptScore W2005669153C47446073 @default.
• W2005669153 hasConceptScore W2005669153C62520636 @default.
• W2005669153 hasConceptScore W2005669153C6557445 @default.
• W2005669153 hasConceptScore W2005669153C86803240 @default.
• W2005669153 hasConceptScore W2005669153C90509273 @default.
• W2005669153 hasConceptScore W2005669153C97355855 @default.
• W2005669153 hasIssue "4" @default.
• W2005669153 hasLocation W20056691531 @default.
• W2005669153 hasOpenAccess W2005669153 @default.
• W2005669153 hasPrimaryLocation W20056691531 @default.

• next