1. Date of download: 12/26/2017
Copyright © ASME. All rights reserved.
From: Tracking Accuracy Analysis of a Planar Flexible Manipulator With Lubricated Joint and Interval Uncertainty
J. Comput. Nonlinear Dynam. 2016;11(5): doi: /
Figure Legend:
Cross section of a lubricated journal bearing

2. Date of download: 12/26/2017
Copyright © ASME. All rights reserved.
From: Tracking Accuracy Analysis of a Planar Flexible Manipulator With Lubricated Joint and Interval Uncertainty
J. Comput. Nonlinear Dynam. 2016;11(5): doi: /
Figure Legend:
Two-link flexible manipulator model

3. Date of download: 12/26/2017
Copyright © ASME. All rights reserved.
From: Tracking Accuracy Analysis of a Planar Flexible Manipulator With Lubricated Joint and Interval Uncertainty
J. Comput. Nonlinear Dynam. 2016;11(5): doi: /
Figure Legend:
The fuzzy self-tuning PID controller

4. Date of download: 12/26/2017
Copyright © ASME. All rights reserved.
From: Tracking Accuracy Analysis of a Planar Flexible Manipulator With Lubricated Joint and Interval Uncertainty
J. Comput. Nonlinear Dynam. 2016;11(5): doi: /
Figure Legend:
Membership function for elk/Ge, delk/Gde, ΔKp/Gp, ΔKi/Gi, and ΔKd/Gd

5. Date of download: 12/26/2017
Copyright © ASME. All rights reserved.
From: Tracking Accuracy Analysis of a Planar Flexible Manipulator With Lubricated Joint and Interval Uncertainty
J. Comput. Nonlinear Dynam. 2016;11(5): doi: /
Figure Legend:
Interval uncertain analysis for a manipulator

6. Date of download: 12/26/2017
Copyright © ASME. All rights reserved.
From: Tracking Accuracy Analysis of a Planar Flexible Manipulator With Lubricated Joint and Interval Uncertainty
J. Comput. Nonlinear Dynam. 2016;11(5): doi: /
Figure Legend:
Circle trajectory tracking of manipulator

7. Date of download: 12/26/2017
Copyright © ASME. All rights reserved.
From: Tracking Accuracy Analysis of a Planar Flexible Manipulator With Lubricated Joint and Interval Uncertainty
J. Comput. Nonlinear Dynam. 2016;11(5): doi: /
Figure Legend:
The desired trajectory and the actual trajectory of the manipulator tip

8. Date of download: 12/26/2017
Copyright © ASME. All rights reserved.
From: Tracking Accuracy Analysis of a Planar Flexible Manipulator With Lubricated Joint and Interval Uncertainty
J. Comput. Nonlinear Dynam. 2016;11(5): doi: /
Figure Legend:
Error of (a) shoulder angle and (b) elbow angle

9. Date of download: 12/26/2017
Copyright © ASME. All rights reserved.
From: Tracking Accuracy Analysis of a Planar Flexible Manipulator With Lubricated Joint and Interval Uncertainty
J. Comput. Nonlinear Dynam. 2016;11(5): doi: /
Figure Legend:
Error in (a) X-direction and (b) Y-direction of the elbow tip

10. Date of download: 12/26/2017
Copyright © ASME. All rights reserved.
From: Tracking Accuracy Analysis of a Planar Flexible Manipulator With Lubricated Joint and Interval Uncertainty
J. Comput. Nonlinear Dynam. 2016;11(5): doi: /
Figure Legend:
Translational acceleration of the elbow tip in X-direction

11. Date of download: 12/26/2017
Copyright © ASME. All rights reserved.
From: Tracking Accuracy Analysis of a Planar Flexible Manipulator With Lubricated Joint and Interval Uncertainty
J. Comput. Nonlinear Dynam. 2016;11(5): doi: /
Figure Legend:
Translational acceleration of the elbow tip in Y-direction

12. Date of download: 12/26/2017
Copyright © ASME. All rights reserved.
From: Tracking Accuracy Analysis of a Planar Flexible Manipulator With Lubricated Joint and Interval Uncertainty
J. Comput. Nonlinear Dynam. 2016;11(5): doi: /
Figure Legend:
Applied torques to shoulder motor

13. Date of download: 12/26/2017
Copyright © ASME. All rights reserved.
From: Tracking Accuracy Analysis of a Planar Flexible Manipulator With Lubricated Joint and Interval Uncertainty
J. Comput. Nonlinear Dynam. 2016;11(5): doi: /
Figure Legend:
Applied torques to elbow motor

14. Date of download: 12/26/2017
Copyright © ASME. All rights reserved.
From: Tracking Accuracy Analysis of a Planar Flexible Manipulator With Lubricated Joint and Interval Uncertainty
J. Comput. Nonlinear Dynam. 2016;11(5): doi: /
Figure Legend:
Error of shoulder angle for the manipulator (c = 0.2 mm, 0.3 mm, 0.4 mm, and 0.5 mm): (a) dry contact model and (b) lubricated model

15. Date of download: 12/26/2017
Copyright © ASME. All rights reserved.
From: Tracking Accuracy Analysis of a Planar Flexible Manipulator With Lubricated Joint and Interval Uncertainty
J. Comput. Nonlinear Dynam. 2016;11(5): doi: /
Figure Legend:
Error of elbow angle for the manipulator (c = 0.2 mm, 0.3 mm, 0.4 mm, and 0.5 mm): (a) dry contact model and (b) lubricated model

16. Date of download: 12/26/2017
Copyright © ASME. All rights reserved.
From: Tracking Accuracy Analysis of a Planar Flexible Manipulator With Lubricated Joint and Interval Uncertainty
J. Comput. Nonlinear Dynam. 2016;11(5): doi: /
Figure Legend:
Error in X-direction of the elbow tip (c = 0.2 mm, 0.3 mm, 0.4 mm, and 0.5 mm): (a) dry contact model and (b) lubricated model

17. Date of download: 12/26/2017
Copyright © ASME. All rights reserved.
From: Tracking Accuracy Analysis of a Planar Flexible Manipulator With Lubricated Joint and Interval Uncertainty
J. Comput. Nonlinear Dynam. 2016;11(5): doi: /
Figure Legend:
Error in Y-direction of the elbow tip (c = 0.2 mm, 0.3 mm, 0.4 mm, and 0.5 mm): (a) dry contact model and (b) lubricated model

18. Date of download: 12/26/2017
Copyright © ASME. All rights reserved.
From: Tracking Accuracy Analysis of a Planar Flexible Manipulator With Lubricated Joint and Interval Uncertainty
J. Comput. Nonlinear Dynam. 2016;11(5): doi: /
Figure Legend:
Error region of (a) shoulder angle and (b) elbow angle

19. Date of download: 12/26/2017
Copyright © ASME. All rights reserved.
From: Tracking Accuracy Analysis of a Planar Flexible Manipulator With Lubricated Joint and Interval Uncertainty
J. Comput. Nonlinear Dynam. 2016;11(5): doi: /
Figure Legend:
Error region in (a) X-direction and (b) Y-direction of the elbow tip