Research paper
Elastic-joint two-link robot and robust position control
The study combines low-cost elastic joints with model-reference adaptive and fuzzy PI control for a 3D-printed two-link arm. The publisher abstract reports simulation and prototype experiments addressing uncertain dynamics and disturbances. Compliance is relevant to contact risk, while the reported control tests do not establish an injury threshold or certified safety function.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- Modelling and Control of a 2-DOF Robot Arm with Elastic Joints for Safe Human-Robot Interaction
- Publisher
- Frontiers in Robotics and AI
- Authors
- Hua Minh Tuan, Filippo Sanfilippo, Nguyen Vinh Hao
- DOI
- 10.3389/frobt.2021.679304
- First online publication
- 2021-08-17
- Source language
- en
- Edition
- v1
- Access
- Public bibliography and abstract
- Publication status
- Published
Source overview
The study combines low-cost elastic joints with model-reference adaptive and fuzzy PI control for a 3D-printed two-link arm. The publisher abstract reports simulation and prototype experiments addressing uncertain dynamics and disturbances. Compliance is relevant to contact risk, while the reported control tests do not establish an injury threshold or certified safety function.
Use and review
Source checking covers catalogue metadata and available public abstract or description. Full-text methods and references were not reviewed, and software was not executed. This summary does not establish conformity or product safety.
Sources & editions
Modelling and Control of a 2-DOF Robot Arm with Elastic Joints for Safe Human-Robot Interaction ↗
Frontiers in Robotics and AI · v1
Publisher title, three authors, original DOI and abstract matched the two related DataCite records. Publisher page displays17August2021; registered deposit/PDF issue date18August2021 retained separately. No unsupported formal IsIdenticalTo relation is asserted.