Joint (building)
Related papers: 20
About
A joint, in the context of robotics and mechanical systems, is a connection point between two rigid or flexible bodies that allows relative motion — typically rotation (revolute) or translation (prismatic) — between linked segments. In robotic manipulators, joints are the fundamental building blocks of kinematic chains, enabling arms, hands, and legs to move through space by transmitting torques and forces from actuators to links. Each joint's position, velocity, and torque must be precisely measured and controlled to achieve accurate end-effector placement, making joint-space control a cornerstone of robot programming and motion planning. Joints matter enormously in robotics because their mechanical properties — stiffness, friction, flexibility, and inertia — directly govern a system's dynamic behavior, stability, and safety. Rigid joints offer precise control but can cause dangerous impact forces when colliding with unexpected obstacles. Variable stiffness and compliant joint designs, inspired by biological systems, allow robots to operate more safely alongside humans and adapt to uncertain environments. Understanding joint dynamics is therefore essential for simulation, calibration, adaptive control, and the development of next-generation robots capable of dexterous, safe, and energy-efficient operation.
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Top Cited Papers
Dynamic analysis of flexible manipulators, a literature review
Santosha K. Dwivedy, Peter Eberhard
Citations: 855 • 2006
Efficient Dynamic Computer Simulation of Robotic Mechanisms
Michael Walker, David E. Orin
Citations: 815 • 1982
Control of Robot Manipulators in Joint Space
Rafael Kelly
Citations: 671 • 2005
Joint Cognitive Systems
Erik Hollnagel, David D. Woods
Citations: 646 • 2005
A new variable stiffness design: Matching requirements of the next robot generation
Sebastian Wolf, Gerd Hirzinger
Citations: 530 • 2008
Proceedings of the Twenty-Seventh International Joint Conference on Artificial Intelligence
Citations: 523 • 2018
Friction stir welding: Process, automation, and control
Brian Gibson, David H. Lammlein, Tracie Prater, William R. Longhurst, Chase Cox, M.C. Ballun, Kathryn J. Dharmaraj, Gerald Cook, Alvin M. Strauss
Citations: 506 • 2013
Robot arm dynamics and control
A.K. Bejczy
Citations: 440 • 1974
Control of Robot Manipulators in Joint Space
Citations: 436 • 2006
Dynamic manipulability of robot manipulators
T. Yoshikawa
Citations: 364 • 2005
Cartesian Impedance Control of Redundant and Flexible-Joint Robots
Christian Ott
Citations: 339 • 2008
Industrial Robot Forward Calibration Method and Results
Daniel E. Whitney, C. Lozinski, J. M. Rourke
Citations: 315 • 1986
Development of a high-speed multifingered hand system and its application to catching
Akio Namiki, Yasuo Imai, Masatoshi Ishikawa, Makoto Kaneko
Citations: 297 • 2004
Biologically Inspired Joint Stiffness Control
Shane A. Migliore, E.A. Brown, Stephen P. DeWeerth
Citations: 291 • 2006
Biomechanics of Knee Ligaments
Savio L‐Y. Woo, Richard E. Debski, John D. Withrow, Marsie A. Janaushek
Citations: 287 • 1999
Conventional controller design for industrial robots — A tutorial
J.Y.S. Luh
Citations: 280 • 1983
Adaptive control of robot manipulators with flexible joints
Rogelio Lozano, Bernard Brogliato
Citations: 265 • 1992
A Validated Three-Dimensional Computational Model of a Human Knee Joint
G. Li, Jorge E. Gil, Akira Kanamori, Savio L‐Y. Woo
Citations: 262 • 1999
The DLR FSJ: Energy based design of a variable stiffness joint
Sebastian Wolf, Oliver Eiberger, Gerd Hirzinger
Citations: 257 • 2011
Robust independent joint controller design for industrial robot manipulators
T.C. Hsia, Ty A. Lasky, Zhaomiao Guo
Citations: 237 • 1991