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Flexible Joint Model

Source Notebook

Model of a torque-driven flexible joint

Examples

Basic Examples (3) 

Retrieve the model:

In[1]:=
ResourceData[\!\(\* TagBox["\"\<Flexible Joint Model\>\"", #& , BoxID -> "ResourceTag-Flexible Joint Model-Input", AutoDelete->True]\)]
Out[1]=

The icon:

In[2]:=
ResourceData[\!\(\* TagBox["\"\<Flexible Joint Model\>\"", #& , BoxID -> "ResourceTag-Flexible Joint Model-Input", AutoDelete->True]\), "Icon"]
Out[2]=

The annotation:

In[3]:=
ResourceData[\!\(\* TagBox["\"\<Flexible Joint Model\>\"", #& , BoxID -> "ResourceTag-Flexible Joint Model-Input", AutoDelete->True]\), "Annotation"]
Out[3]=

Available content elements:

In[4]:=
\!\(\* TagBox[ RowBox[{"ResourceObject", "[", "\"\<Flexible Joint Model\>\"", "]"}], #& , BoxID -> "ResourceTag-Flexible Joint Model-Input", AutoDelete->True]\)["ContentElements"]
Out[4]=

The available model types:

In[5]:=
ResourceData[\!\(\* TagBox["\"\<Flexible Joint Model\>\"", #& , BoxID -> "ResourceTag-Flexible Joint Model-Input", AutoDelete->True]\), "AvailableModelTypes"]
Out[5]=

The operating point:

In[6]:=
ResourceData[\!\(\* TagBox["\"\<Flexible Joint Model\>\"", #& , BoxID -> "ResourceTag-Flexible Joint Model-Input", AutoDelete->True]\), "OperatingPoint"]
Out[6]=

The parameters:

In[7]:=
ResourceData[\!\(\* TagBox["\"\<Flexible Joint Model\>\"", #& , BoxID -> "ResourceTag-Flexible Joint Model-Input", AutoDelete->True]\), "Parameters"]
Out[7]=

The numerical model:

In[8]:=
assm = ResourceData[\!\(\* TagBox["\"\<Flexible Joint Model\>\"", #& , BoxID -> "ResourceTag-Flexible Joint Model-Input", AutoDelete->True]\)] /. ResourceData[\!\(\* TagBox["\"\<Flexible Joint Model\>\"", #& , BoxID -> "ResourceTag-Flexible Joint Model-Input", AutoDelete->True]\), "Parameters"]
Out[8]=

Its angular position is unregulated to a disturbance in its position:

In[9]:=
OutputResponse[{assm, {0.2}}, 0, {t, 0, 15}]; Plot[%, {t, 0, 15}, PlotRange -> All]
Out[10]=

Its response is oscillatory because it has poles very close to the imaginary axis:

In[11]:=
ComplexListPlot[TransferFunctionPoles[ResourceData[\!\(\* TagBox["\"\<Flexible Joint Model\>\"", #& , BoxID -> "ResourceTag-Flexible Joint Model-Input", AutoDelete->True]\), "TransferFunctionModel"] /. ResourceData[\!\(\* TagBox["\"\<Flexible Joint Model\>\"", #& , BoxID -> "ResourceTag-Flexible Joint Model-Input", AutoDelete->True]\), "Parameters"]][[1, 1]], Sequence[ AspectRatio -> 1, PlotMarkers -> Style["*", Large, GrayLevel[0]], Frame -> True, Axes -> {False, True}, PlotRange -> {{-0.01, 0.01}, {-20, 20}}]]
Out[11]=

Suba Thomas, "Flexible Joint Model" from the Wolfram Data Repository (2025)  

Data Resource History

  • Date Created:

Source Metadata

  • Citation:
    • A. A. Abdulalhussain and W. Abdul-Adheem, "Linear Quadratic Regulator Applied to a Nonlinear Single-Link Flexible Joint Manipulator", presented at the International Conference on Control, Automation and Systems (ICCAS), Jeju, South Korea, Oct. 2017.​

Publisher Information

  • Prepared for the Wolfram Data Repository By: Maher Kuzbari, Suba Thomas
  • Publisher of Record: Suba Thomas