{"paper":{"title":"Rapid Vibration Suppression and Trajectory Tracking of a Serial Manipulator with Multi-Flexible Links","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Chengyi Wang, Ji Wang, Yilong Huang","submitted_at":"2026-05-17T14:30:45Z","abstract_excerpt":"Flexible robotic manipulators (FRMs) offer advantages in lightweight design and large workspace, but their structural flexibility induces vibrations, accelerates fatigue, degrades tracking performance, and limits operational speed. These challenges are further amplified in multi-link serial manipulators, where increased overall length leads to greater structural flexibility. This article presents a backstepping output-feedback framework for fast vibration suppression and tip tracking of an n-degree-of-freedom serial flexible manipulator robot (nDSFMR), with a DeepONet-based approximation for p"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.17477","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2605.17477/integrity.json","findings":[],"available":true,"detectors_run":[{"name":"claim_evidence","ran_at":"2026-05-19T21:41:57.692399Z","status":"completed","version":"1.0.0","findings_count":0},{"name":"ai_meta_artifact","ran_at":"2026-05-19T21:33:23.650503Z","status":"skipped","version":"1.0.0","findings_count":0}],"snapshot_sha256":"e5c90b394104fadc419ab0e5dcdf4e154271850dd86ef4f3105ec50623c0b8c8"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}