{"id":"https://openalex.org/W4409401428","doi":"https://doi.org/10.5302/j.icros.2025.25.0025","title":"Experimental Study of Model-based Torque Control for 6-DOF Manipulator Robot","display_name":"Experimental Study of Model-based Torque Control for 6-DOF Manipulator Robot","publication_year":2025,"publication_date":"2025-04-13","ids":{"openalex":"https://openalex.org/W4409401428","doi":"https://doi.org/10.5302/j.icros.2025.25.0025"},"language":"en","primary_location":{"id":"doi:10.5302/j.icros.2025.25.0025","doi":"https://doi.org/10.5302/j.icros.2025.25.0025","is_oa":false,"landing_page_url":"https://doi.org/10.5302/j.icros.2025.25.0025","pdf_url":null,"source":{"id":"https://openalex.org/S4210183236","display_name":"Journal of Institute of Control Robotics and Systems","issn_l":"1976-5622","issn":["1976-5622","2233-4335"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/P4323366859","host_organization_name":"Institute of Control, Robotics and Systems","host_organization_lineage":["https://openalex.org/P4323366859"],"host_organization_lineage_names":["Institute of Control, Robotics and Systems"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Institute of Control, Robotics and Systems","raw_type":"journal-article"},"volume":null,"type":"article","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":null,"display_name":"Jihoon Shin","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jihoon Shin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000656484","display_name":"Han-eol Lee","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Han-eol Lee","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5054854946","display_name":"Bumjoo Lee","orcid":"https://orcid.org/0000-0001-5985-4594","observed_orcids":["https://orcid.org/0000-0001-5985-4594"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bumjoo Lee","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.04656541,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"31","issue":"4","first_page":"320","last_page":"327"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9916999936103821,"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":0.9916999936103821,"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":0.0032999999821186066,"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/T13644","display_name":"Control Systems in Engineering","score":0.0010000000474974513,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/torque-control","display_name":"torque control","score":0.8420000076293945},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"inverse dynamics","score":0.8479999899864197},{"id":"https://openalex.org/keywords/model-based-control","display_name":"model-based control","score":0.8759999871253967},{"id":"https://openalex.org/keywords/whole-body-dynamics","display_name":"whole-body dynamics","score":0.6399999856948853},{"id":"https://openalex.org/keywords/coordinate-transformation","display_name":"coordinate transformation","score":0.5759999752044678},{"id":"https://openalex.org/keywords/moment-of-inertia-tensor","display_name":"inertia tensor","score":0.902999997138977},{"id":"https://openalex.org/keywords/rigid-body-dynamics","display_name":"rigid body dynamics","score":0.7239999771118164},{"id":"https://openalex.org/keywords/robustness-to-disturbances","display_name":"robustness to disturbances","score":0.6290000081062317}],"concepts":[{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.7822912335395813},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.687074601650238},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6191083788871765},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6161381006240845},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.493599534034729},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4925532937049866},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.45056620240211487},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45043352246284485},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36375218629837036},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1946859359741211},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11623099446296692},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.5302/j.icros.2025.25.0025","doi":"https://doi.org/10.5302/j.icros.2025.25.0025","is_oa":false,"landing_page_url":"https://doi.org/10.5302/j.icros.2025.25.0025","pdf_url":null,"source":{"id":"https://openalex.org/S4210183236","display_name":"Journal of Institute of Control Robotics and Systems","issn_l":"1976-5622","issn":["1976-5622","2233-4335"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/P4323366859","host_organization_name":"Institute of Control, Robotics and Systems","host_organization_lineage":["https://openalex.org/P4323366859"],"host_organization_lineage_names":["Institute of Control, Robotics and Systems"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Institute of Control, Robotics and Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"sustainable_development_goals_aurora":[{"score":0.7799999713897705,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2391397427","https://openalex.org/W1996341361","https://openalex.org/W4366609476","https://openalex.org/W2078127841","https://openalex.org/W2156518980","https://openalex.org/W2362551533","https://openalex.org/W2386777533","https://openalex.org/W4403420403","https://openalex.org/W2093621301","https://openalex.org/W849053048"],"abstract_inverted_index":{"The":[0],"torque":[1,9,140,145],"control":[2,31,75,128],"algorithm":[3,65,129],"for":[4,89,104,144],"a":[5,57,148,151,157,167],"robot":[6,17],"computes":[7],"joint":[8,139,171],"commands":[10],"using":[11],"inverse":[12,90],"dynamic":[13,28],"equations,":[14],"enabling":[15],"the":[16,52,73,82,97,116,121,127],"to":[18,34],"follow":[19],"reference":[20],"trajectories":[21],"with":[22,169],"high":[23],"precision.":[24],"By":[25],"leveraging":[26],"whole-body":[27],"information,":[29],"model-based":[30,58,74,152],"allows":[32],"robots":[33],"perform":[35],"well":[36],"in":[37,156],"collaborative":[38],"tasks":[39],"and":[40,67,126,161],"remain":[41],"robust":[42],"against":[43],"disturbances":[44],"caused":[45],"by":[46],"predicted":[47],"actions.":[48],"This":[49],"paper":[50],"describes":[51],"entire":[53],"process":[54],"of":[55],"constructing":[56],"controller,":[59],"considering":[60],"practical":[61],"factors":[62],"such":[63,109],"as":[64,110],"implementation":[66,163],"servo":[68],"controller":[69,153],"compensation.":[70],"To":[71,132],"implement":[72],"algorithm,":[76],"kinematic":[77],"parameters":[78,108],"are":[79,113,124],"extracted":[80],"from":[81],"3D":[83],"CAD":[84],"design.":[85],"Since":[86],"various":[87],"interfaces":[88],"dynamics":[91,123],"calculations":[92],"use":[93],"different":[94],"coordinate":[95,98,118],"systems,":[96],"system":[99],"must":[100],"be":[101],"adjusted":[102],"appropriately":[103],"each":[105,138],"context.":[106],"Then,":[107],"inertia":[111],"tensors":[112],"transformed":[114],"into":[115],"relevant":[117],"system.":[119],"Subsequently,":[120],"rigid-body":[122],"formulated,":[125],"is":[130,142,154,164],"derived.":[131],"achieve":[133],"more":[134],"precise":[135],"feedback":[136],"control,":[137],"sensor":[141],"calibrated":[143],"control.":[146,172],"As":[147],"final":[149],"step,":[150],"implemented":[155],"commercial":[158],"manipulator":[159],"robot,":[160],"its":[162],"substantiated":[165],"through":[166],"comparison":[168],"independent":[170]},"counts_by_year":[],"updated_date":"2026-08-13T07:04:57.449891","created_date":"2025-10-10T00:00:00"}