Single-Link Rotary Flexible Joint Control Using S-Curve Motion Profile
| dc.contributor.author | Güner, U. | |
| dc.date.accessioned | 2026-03-26T15:02:29Z | |
| dc.date.available | 2026-03-26T15:02:29Z | |
| dc.date.issued | 2024 | |
| dc.description.abstract | This paper proposes a control method based on an S-curve motion profile for a single-link rotary flexible joint system. The motion profile is designed with constant jerk to position the rotary flexible joint without oscillations. The profile is implemented within a closed-loop system that utilizes a proportional-derivative(PD) controller. To address the steady-state error typically associated with PD controllers and to ensure compatibility with the motion profile, an error-dependent integral action is implemented. The parameters of the motion profile are determined through system identification. The effectiveness of the proposed controller is validated through experimental studies. © 2024 IEEE. | en_US |
| dc.identifier.doi | 10.1109/ISMSIT63511.2024.10757194 | |
| dc.identifier.isbn | 9798350354423 | |
| dc.identifier.scopus | 2-s2.0-85213404097 | |
| dc.identifier.uri | https://doi.org/10.1109/ISMSIT63511.2024.10757194 | |
| dc.identifier.uri | https://hdl.handle.net/20.500.14901/3603 | |
| dc.language.iso | en | en_US |
| dc.publisher | Institute of Electrical and Electronics Engineers Inc. | en_US |
| dc.relation.ispartof | -- 8th International Symposium on Multidisciplinary Studies and Innovative Technologies, ISMSIT 2024 -- 2024-11-07 through 2024-11-09 -- Ankara -- 204563 | en_US |
| dc.rights | info:eu-repo/semantics/closedAccess | en_US |
| dc.subject | Error-Dependent Integral Action | en_US |
| dc.subject | S-Curve Motion Profile | en_US |
| dc.subject | Single-Link Rotary Flexible Joint | en_US |
| dc.subject | System Identification | en_US |
| dc.title | Single-Link Rotary Flexible Joint Control Using S-Curve Motion Profile | en_US |
| dc.type | Conference Object | en_US |
| dspace.entity.type | Publication | |
| gdc.author.institutional | Güner, U. | |
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| gdc.description.department | Erzurum Technical University | en_US |
| gdc.description.departmenttemp | [Güner] Ufuk, Department of Electrical and Electronic Engineering, Erzurum Technical University, Erzurum, Erzurum, Turkey | en_US |
| gdc.description.endpage | 5 | |
| gdc.description.publicationcategory | Konferans Öğesi - Uluslararası - Kurum Öğretim Elemanı | en_US |
| gdc.description.scopusquality | N/A | |
| gdc.description.startpage | 1 | |
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| gdc.identifier.openalex | W4405741353 | |
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| gdc.virtual.author | Güner, Ufuk | |
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