{"id":"https://openalex.org/W4381744591","doi":"https://doi.org/10.1109/iraset57153.2023.10152988","title":"Gripping Force Optimization Based on an ANFIS Controller for an Object Manipulated by Two 3-DOF Cooperative Manipulators","display_name":"Gripping Force Optimization Based on an ANFIS Controller for an Object Manipulated by Two 3-DOF Cooperative Manipulators","publication_year":2023,"publication_date":"2023-05-18","ids":{"openalex":"https://openalex.org/W4381744591","doi":"https://doi.org/10.1109/iraset57153.2023.10152988"},"language":"en","primary_location":{"id":"doi:10.1109/iraset57153.2023.10152988","doi":"https://doi.org/10.1109/iraset57153.2023.10152988","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/iraset57153.2023.10152988","pdf_url":null,"source":{"id":"https://openalex.org/S4363608057","display_name":"International Conference on Innovative Research in Applied Science, Engineering and Technology (IRASET)","issn_l":null,"issn":null,"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":"2023 3rd International Conference on Innovative Research in Applied Science, Engineering and Technology (IRASET)","raw_type":"proceedings-article"},"parent_works":[],"lineage":["https://openalex.org/W4381744591"],"child_works_count":0,"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/A5016398344","display_name":"Abderrahim Bahani","orcid":"https://orcid.org/0000-0002-6794-2487","observed_orcids":["https://orcid.org/0000-0002-6794-2487"]},"institutions":[{"id":"https://openalex.org/I4210087544","display_name":"\u00c9cole Normale Sup\u00e9rieure Casablanca","ror":"https://ror.org/0052qvr31","country_code":"MA","type":"education","lineage":["https://openalex.org/I4210087544"]},{"id":"https://openalex.org/I99297268","display_name":"University of Hassan II Casablanca","ror":"https://ror.org/001q4kn48","country_code":"MA","type":"education","lineage":["https://openalex.org/I99297268"]}],"countries":["MA"],"is_corresponding":false,"raw_author_name":"Abderrahim Bahani","raw_affiliation_strings":["Ecole Normale Sup\u00e9rieur de l'Enseignement Technique ENSET-Hassan II University,Department of mechanical engineering,Casablanca,Morocco"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ecole Normale Sup\u00e9rieur de l'Enseignement Technique ENSET-Hassan II University,Department of mechanical engineering,Casablanca,Morocco","institution_ids":["https://openalex.org/I4210087544","https://openalex.org/I99297268"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031805644","display_name":"Moulay El Houssine Ech-Chhibat","orcid":"https://orcid.org/0000-0002-1979-0634","observed_orcids":["https://orcid.org/0000-0002-1979-0634"]},"institutions":[{"id":"https://openalex.org/I4210087544","display_name":"\u00c9cole Normale Sup\u00e9rieure Casablanca","ror":"https://ror.org/0052qvr31","country_code":"MA","type":"education","lineage":["https://openalex.org/I4210087544"]},{"id":"https://openalex.org/I99297268","display_name":"University of Hassan II Casablanca","ror":"https://ror.org/001q4kn48","country_code":"MA","type":"education","lineage":["https://openalex.org/I99297268"]}],"countries":["MA"],"is_corresponding":false,"raw_author_name":"El Houssine Ech-Chhibat","raw_affiliation_strings":["Ecole Normale Sup\u00e9rieur de l'Enseignement Technique ENSET-Hassan II University,Department of mechanical engineering,Casablanca,Morocco"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ecole Normale Sup\u00e9rieur de l'Enseignement Technique ENSET-Hassan II University,Department of mechanical engineering,Casablanca,Morocco","institution_ids":["https://openalex.org/I4210087544","https://openalex.org/I99297268"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038536309","display_name":"Hassan Samri","orcid":"https://orcid.org/0009-0000-4276-0348","observed_orcids":["https://orcid.org/0009-0000-4276-0348"]},"institutions":[{"id":"https://openalex.org/I4210087544","display_name":"\u00c9cole Normale Sup\u00e9rieure Casablanca","ror":"https://ror.org/0052qvr31","country_code":"MA","type":"education","lineage":["https://openalex.org/I4210087544"]},{"id":"https://openalex.org/I99297268","display_name":"University of Hassan II Casablanca","ror":"https://ror.org/001q4kn48","country_code":"MA","type":"education","lineage":["https://openalex.org/I99297268"]}],"countries":["MA"],"is_corresponding":false,"raw_author_name":"Hassan Samri","raw_affiliation_strings":["Ecole Normale Sup\u00e9rieur de l'Enseignement Technique ENSET-Hassan II University,Department of mechanical engineering,Casablanca,Morocco"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ecole Normale Sup\u00e9rieur de l'Enseignement Technique ENSET-Hassan II University,Department of mechanical engineering,Casablanca,Morocco","institution_ids":["https://openalex.org/I4210087544","https://openalex.org/I99297268"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008606608","display_name":"Hicham Ait Elattar","orcid":"https://orcid.org/0009-0003-2245-3334","observed_orcids":["https://orcid.org/0009-0003-2245-3334"]},"institutions":[{"id":"https://openalex.org/I4210087544","display_name":"\u00c9cole Normale Sup\u00e9rieure Casablanca","ror":"https://ror.org/0052qvr31","country_code":"MA","type":"education","lineage":["https://openalex.org/I4210087544"]},{"id":"https://openalex.org/I99297268","display_name":"University of Hassan II Casablanca","ror":"https://ror.org/001q4kn48","country_code":"MA","type":"education","lineage":["https://openalex.org/I99297268"]}],"countries":["MA"],"is_corresponding":false,"raw_author_name":"Hicham Ait Elattar","raw_affiliation_strings":["Ecole Normale Sup\u00e9rieur de l'Enseignement Technique ENSET-Hassan II University,Department of mechanical engineering,Casablanca,Morocco"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ecole Normale Sup\u00e9rieur de l'Enseignement Technique ENSET-Hassan II University,Department of mechanical engineering,Casablanca,Morocco","institution_ids":["https://openalex.org/I4210087544","https://openalex.org/I99297268"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1127,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.73807425,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9564999938011169,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9564999938011169,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.0203000009059906,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.01209999993443489,"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/anfis-controller","display_name":"ANFIS controller","score":0.8069999814033508},{"id":"https://openalex.org/keywords/cooperative-manipulators","display_name":"cooperative manipulators","score":0.7559999823570251},{"id":"https://openalex.org/keywords/3-dof-manipulator","display_name":"3-DOF manipulator","score":0.7919999957084656},{"id":"https://openalex.org/keywords/computed-torque-control","display_name":"computed torque control","score":0.9559999704360962},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"inverse kinematics","score":0.7839999794960022},{"id":"https://openalex.org/keywords/object-manipulation","display_name":"object manipulation","score":0.8130000233650208},{"id":"https://openalex.org/keywords/adaptive-neuro-fuzzy-inference-system","display_name":"adaptive neuro-fuzzy inference system","score":0.6710000038146973}],"concepts":[{"id":"https://openalex.org/C186108316","wikidata":"https://www.wikidata.org/wiki/Q352530","display_name":"Adaptive neuro fuzzy inference system","level":4,"score":0.6835445165634155},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6395986676216125},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6188119053840637},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6003952026367188},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5726845264434814},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5162417888641357},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5040375590324402},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.48830080032348633},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3971942663192749},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3949003517627716},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.35780438780784607},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3492793142795563},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.3169175684452057},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22518140077590942},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22129780054092407},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/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/iraset57153.2023.10152988","doi":"https://doi.org/10.1109/iraset57153.2023.10152988","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/iraset57153.2023.10152988","pdf_url":null,"source":{"id":"https://openalex.org/S4363608057","display_name":"International Conference on Innovative Research in Applied Science, Engineering and Technology (IRASET)","issn_l":null,"issn":null,"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":"2023 3rd International Conference on Innovative Research in Applied Science, Engineering and Technology (IRASET)","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":0,"referenced_works":[],"related_works":["https://openalex.org/W4366994038","https://openalex.org/W4220878079","https://openalex.org/W7164186909","https://openalex.org/W2298346864","https://openalex.org/W2130351752","https://openalex.org/W2065987018","https://openalex.org/W7128997819","https://openalex.org/W2728315094","https://openalex.org/W2041101307","https://openalex.org/W2993131862"],"abstract_inverted_index":{"In":[0,62],"this":[1],"article,":[2],"it":[3],"is":[4,43,104],"suggested":[5],"that":[6,23],"a":[7,20,37],"two":[8],"3":[9],"DOF(tree":[10],"degree":[11],"of":[12,100],"freedom)":[13],"cooperative":[14],"robotic":[15],"system":[16],"be":[17],"controlled":[18],"using":[19,30],"control":[21,110],"strategy":[22,111],"relies":[24],"on":[25],"an":[26,41,49],"inverse":[27,58],"dynamics":[28],"controller":[29],"ANFIS":[31,89],"(Adaptive":[32],"Neuro-Fuzzy":[33],"Inference":[34],"System).":[35],"Utilizing":[36],"two-robot":[38],"manipulator":[39],"system,":[40],"object":[42,114],"moved":[44],"while":[45],"taking":[46],"into":[47],"account":[48],"elastic":[50],"tool-object":[51],"contact.":[52],"For":[53],"the":[54,57,66,71,76,88,101,108],"double":[55],"arm,":[56],"kinematics":[59],"are":[60,83,96],"solved.":[61],"order":[63],"to":[64],"obtain":[65],"necessary":[67],"complete":[68],"equations.":[69],"Additionally,":[70],"motion":[72],"dynamic":[73],"equations":[74],"for":[75],"closed":[77],"chain,":[78],"which":[79],"encompasses":[80],"both":[81],"arms,":[82],"also":[84],"determined.":[85],"To":[86],"demonstrate":[87],"controller's":[90],"performance,":[91],"simulation":[92],"results":[93],"in":[94,112],"Matlab/SimMechanic":[95],"given.":[97],"The":[98],"effectiveness":[99],"employed":[102],"method":[103],"validated":[105],"through":[106],"testing":[107],"proposed":[109],"three":[113],"manipulation":[115],"tasks,":[116],"yielding":[117],"positive":[118],"test":[119],"results.":[120]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-11-14T11:04:58.165337","created_date":"2023-06-24T00:00:00"}