{"id":"https://openalex.org/W2108246733","doi":"https://doi.org/10.1109/cdc.1990.203405","title":"A neural network compensator for uncertainties of robotic manipulators","display_name":"A neural network compensator for uncertainties of robotic manipulators","publication_year":1990,"publication_date":"1990-01-01","ids":{"openalex":"https://openalex.org/W2108246733","doi":"https://doi.org/10.1109/cdc.1990.203405","mag":"2108246733"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.1990.203405","doi":"https://doi.org/10.1109/cdc.1990.203405","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.1990.203405","pdf_url":null,"source":{"id":"https://openalex.org/S4210221977","display_name":"IEEE Conference on Decision and Control (CDC)","issn_l":"0191-2216","issn":["0191-2216"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"29th IEEE Conference on Decision and Control","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5111676700","display_name":"S. Okuma","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"S. Okuma","raw_affiliation_strings":["Department of Electronic-Mechanical Engineering, School of Engineering, University of Nagoya, Nagoya, Japan","Dept. of Electron-Mech. Eng., Nagoya Univ., Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic-Mechanical Engineering, School of Engineering, University of Nagoya, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]},{"raw_affiliation_string":"Dept. of Electron-Mech. Eng., Nagoya Univ., Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079413812","display_name":"Akio Ishiguro","orcid":"https://orcid.org/0000-0003-2850-0149","observed_orcids":["https://orcid.org/0000-0003-2850-0149"]},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"A. Ishiguro","raw_affiliation_strings":["Department of Electronic-Mechanical Engineering, School of Engineering, University of Nagoya, Nagoya, Japan","Dept. of Electron-Mech. Eng., Nagoya Univ., Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic-Mechanical Engineering, School of Engineering, University of Nagoya, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]},{"raw_affiliation_string":"Dept. of Electron-Mech. Eng., Nagoya Univ., Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101660124","display_name":"Takeshi Furuhashi","orcid":"https://orcid.org/0000-0001-7935-5434","observed_orcids":["https://orcid.org/0000-0001-7935-5434"]},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T. Furuhashi","raw_affiliation_strings":["Department of Electronic-Mechanical Engineering, School of Engineering, University of Nagoya, Nagoya, Japan","Dept. of Electron-Mech. Eng., Nagoya Univ., Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic-Mechanical Engineering, School of Engineering, University of Nagoya, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]},{"raw_affiliation_string":"Dept. of Electron-Mech. Eng., Nagoya Univ., Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111429077","display_name":"Y. Uchikawa","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Y. Uchikawa","raw_affiliation_strings":["Department of Electronic-Mechanical Engineering, School of Engineering, University of Nagoya, Nagoya, Japan","Dept. of Electron-Mech. Eng., Nagoya Univ., Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic-Mechanical Engineering, School of Engineering, University of Nagoya, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]},{"raw_affiliation_string":"Dept. of Electron-Mech. Eng., Nagoya Univ., Japan","institution_ids":["https://openalex.org/I60134161"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I60134161"],"apc_list":null,"apc_paid":null,"fwci":2.2081,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.83550792,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":87,"max":93},"biblio":{"volume":null,"issue":null,"first_page":"3303","last_page":"3307 vol.6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9359999895095825,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9359999895095825,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10320","display_name":"Neural Networks and Applications","score":0.032999999821186066,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.007300000172108412,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/neural-network-compensator","display_name":"neural network compensator","score":0.9490000009536743},{"id":"https://openalex.org/keywords/robot-manipulators","display_name":"robot manipulators","score":0.9879999756813049},{"id":"https://openalex.org/keywords/unmodeled-dynamics-compensation","display_name":"unmodeled dynamics compensation","score":0.6610000133514404},{"id":"https://openalex.org/keywords/nonlinearity","display_name":"nonlinearity","score":0.44999998807907104},{"id":"https://openalex.org/keywords/computed-torque-control","display_name":"computed torque control","score":0.8899999856948853},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"inverse dynamics","score":0.6380000114440918},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"adaptive control","score":0.9110000133514404},{"id":"https://openalex.org/keywords/tracking-error-minimization","display_name":"tracking error reduction","score":0.7350000143051147},{"id":"https://openalex.org/keywords/teaching-signal","display_name":"teaching signal","score":0.5040000081062317}],"concepts":[{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.7350915670394897},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7211062908172607},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6469147205352783},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.6247872710227966},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.5703858137130737},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5357538461685181},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.48987478017807007},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.47694912552833557},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.45224815607070923},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4501946270465851},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.4354710280895233},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.34468555450439453},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23006504774093628},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20311862230300903},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14016181230545044},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.1990.203405","doi":"https://doi.org/10.1109/cdc.1990.203405","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.1990.203405","pdf_url":null,"source":{"id":"https://openalex.org/S4210221977","display_name":"IEEE Conference on Decision and Control (CDC)","issn_l":"0191-2216","issn":["0191-2216"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"29th IEEE Conference on Decision and Control","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1529008516","https://openalex.org/W1966552874","https://openalex.org/W1981297107","https://openalex.org/W1984598383","https://openalex.org/W2002410308","https://openalex.org/W2085337283","https://openalex.org/W2095226742","https://openalex.org/W2111980775","https://openalex.org/W2116243329","https://openalex.org/W2135227058","https://openalex.org/W2174684259","https://openalex.org/W4300402905"],"related_works":["https://openalex.org/W2107783741","https://openalex.org/W1984218622","https://openalex.org/W2318465239","https://openalex.org/W2126966042","https://openalex.org/W7101056155","https://openalex.org/W2096627560","https://openalex.org/W1987898957","https://openalex.org/W2152344815","https://openalex.org/W2150556225","https://openalex.org/W2733632121"],"abstract_inverted_index":{"The":[0,92],"authors":[1],"propose":[2],"neural":[3,54,83],"networks":[4,30],"which":[5],"do":[6],"not":[7],"learn":[8],"inverse":[9],"dynamic":[10],"models":[11],"but":[12],"compensate":[13],"nonlinearities":[14],"of":[15,25,28,33,52,81,95],"robotic":[16,97],"manipulators":[17],"by":[18],"the":[19,26,34,40,49,53,60,66,74,82,96],"computed":[20],"torque":[21],"method.":[22],"A":[23],"comparison":[24],"performance":[27],"these":[29],"with":[31,57,86],"that":[32],"conventional":[35,67],"adaptive":[36,50],"scheme":[37,68],"in":[38,102],"compensating":[39],"unmodeled":[41,75],"effects":[42,62],"was":[43,99],"carried":[44],"out.":[45],"As":[46],"a":[47,78],"result,":[48],"capability":[51,71],"network":[55,84],"controller":[56],"respect":[58],"to":[59,72],"unstructured":[61],"is":[63,90],"shown,":[64],"although":[65],"had":[69],"no":[70],"reduce":[73],"effects.":[76],"Furthermore,":[77],"learning":[79],"method":[80],"compensator":[85],"true":[87],"teaching":[88],"signals":[89],"shown.":[91],"tracking":[93],"error":[94],"manipulator":[98],"greatly":[100],"reduced":[101],"simulations.>":[103]},"counts_by_year":[{"year":2021,"cited_by_count":1}],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2016-06-24T00:00:00"}