{"id":"https://openalex.org/W7221127366","doi":"https://doi.org/10.3390/robotics15110234","title":"Real-Time Explainable Vision-in-the-Loop Control of a Planar 2RRR Parallel Manipulator Using a Digital-Twin Reference","display_name":"Real-Time Explainable Vision-in-the-Loop Control of a Planar 2RRR Parallel Manipulator Using a Digital-Twin Reference","publication_year":2026,"publication_date":"2026-11-08","ids":{"openalex":"https://openalex.org/W7221127366","doi":"https://doi.org/10.3390/robotics15110234"},"language":"en","primary_location":{"id":"doi:10.3390/robotics15110234","doi":"https://doi.org/10.3390/robotics15110234","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics15110234","pdf_url":null,"source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","norway-1","poland-20","russia-white-list-1"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.3390/robotics15110234","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5158107379","display_name":"Carlos Andr\u00e9s Mesa-Montoya","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Carlos Andr\u00e9s Mesa-Montoya","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076777956","display_name":"Kevin David Ortega Qui\u00f1ones","orcid":"https://orcid.org/0009-0004-6187-0517","observed_orcids":["https://orcid.org/0009-0004-6187-0517"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kevin David Ortega-Qui\u00f1ones","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139679666","display_name":"Elias Escobar-Pereira","orcid":"https://orcid.org/0009-0003-2409-9025","observed_orcids":["https://orcid.org/0009-0003-2409-9025"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Elias Escobar-Pereira","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5158117986","display_name":"Daniel Zapata-Yarce","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Daniel Zapata-Yarce","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5158010529","display_name":"Germ\u00e1n Andr\u00e9s Holgu\u00edn-Londo\u00f1o","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Germ\u00e1n Andr\u00e9s Holgu\u00edn-Londo\u00f1o","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5038750047","display_name":"Mauricio Holgu\u00edn Londo\u00f1o","orcid":"https://orcid.org/0000-0001-6284-3327","observed_orcids":["https://orcid.org/0000-0001-6284-3327"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mauricio Holgu\u00edn-Londo\u00f1o","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1800,"currency":"CHF","value_usd":2172},"apc_paid":{"value":1800,"currency":"CHF","value_usd":2172},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"15","issue":"11","first_page":"234","last_page":"234"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.5580999851226807,"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":0.5580999851226807,"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":0.20430000126361847,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.05979999899864197,"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/inverse-kinematics","display_name":"inverse kinematics","score":0.9679999947547913},{"id":"https://openalex.org/keywords/digital-twin","display_name":"digital twin","score":0.6819999814033508},{"id":"https://openalex.org/keywords/ros-gazebo-simulation","display_name":"ROS-Gazebo simulation","score":0.8140000104904175},{"id":"https://openalex.org/keywords/explainable-ai","display_name":"explainable AI","score":0.5830000042915344},{"id":"https://openalex.org/keywords/grad-cam","display_name":"Grad-CAM","score":0.9789999723434448},{"id":"https://openalex.org/keywords/shap","display_name":"SHAP","score":0.8730000257492065},{"id":"https://openalex.org/keywords/lime","display_name":"lime","score":0.996999979019165},{"id":"https://openalex.org/keywords/trajectory-tracking","display_name":"trajectory tracking","score":0.3930000066757202}],"concepts":[{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.6453999876976013},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.5536999702453613},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5486999750137329},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.51910001039505},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5189999938011169},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5098999738693237},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.4837999939918518},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.450300008058548},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4334999918937683},{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.4309000074863434},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4300999939441681},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.40139999985694885},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3537999987602234},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3479999899864197},{"id":"https://openalex.org/C206041023","wikidata":"https://www.wikidata.org/wiki/Q1751970","display_name":"Wilcoxon signed-rank test","level":3,"score":0.34610000252723694},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.33980000019073486},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.3246000111103058},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3131999969482422},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.30320000648498535},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.302700012922287},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.30090001225471497},{"id":"https://openalex.org/C103088060","wikidata":"https://www.wikidata.org/wiki/Q1062839","display_name":"Error detection and correction","level":2,"score":0.29980000853538513},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.29829999804496765},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.2808000147342682},{"id":"https://openalex.org/C136886441","wikidata":"https://www.wikidata.org/wiki/Q926129","display_name":"Normalization (sociology)","level":2,"score":0.2768999934196472},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.26420000195503235},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.25839999318122864},{"id":"https://openalex.org/C71907059","wikidata":"https://www.wikidata.org/wiki/Q223323","display_name":"Root mean square","level":2,"score":0.2563000023365021}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/robotics15110234","doi":"https://doi.org/10.3390/robotics15110234","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics15110234","pdf_url":null,"source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","norway-1","poland-20","russia-white-list-1"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"doi:10.20944/preprints202610.0637.v1","doi":"https://doi.org/10.20944/preprints202610.0637.v1","is_oa":true,"landing_page_url":"https://doi.org/10.20944/preprints202610.0637.v1","pdf_url":null,"source":{"id":"https://openalex.org/S6309402219","display_name":"Preprints.org","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"posted-content"}],"best_oa_location":{"id":"doi:10.3390/robotics15110234","doi":"https://doi.org/10.3390/robotics15110234","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics15110234","pdf_url":null,"source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","norway-1","poland-20","russia-white-list-1"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320327944","display_name":"Universidad Tecnol\u00f3gica de Pereira","ror":"https://ror.org/01d981710"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2611833190","https://openalex.org/W2406600052","https://openalex.org/W2144433647","https://openalex.org/W2132291768","https://openalex.org/W2158721457","https://openalex.org/W598205483","https://openalex.org/W1568235533","https://openalex.org/W7062652520","https://openalex.org/W2315507017","https://openalex.org/W2150607600"],"abstract_inverted_index":{"This":[0],"work":[1,236],"presents":[2],"and":[3,37,68,86,127,142,160,213,225,255],"experimentally":[4],"characterizes":[5],"a":[6,16,96,238,248,256,269],"real-time,":[7],"explainable":[8],"Eye-to-Hand":[9],"visual-feedback":[10],"architecture":[11],"for":[12,65,83,120],"trajectory":[13,45,144,202],"control":[14],"of":[15,99,175,234,252,259],"planar":[17],"2RRR":[18],"parallel":[19,271],"manipulator.":[20],"A":[21,53,169],"fine-tuned":[22],"YOLOv8n":[23],"detector":[24],"locates":[25],"an":[26,79,244],"end-effector":[27,220],"marker,":[28],"calibrated":[29],"homography":[30],"converts":[31],"image":[32],"coordinates":[33],"into":[34],"Cartesian":[35,115],"position,":[36],"the":[38,43,50,61,71,93,121,173,176,201,219,285],"resulting":[39],"visual":[40,153,162,192,262],"error":[41],"corrects":[42],"commanded":[44],"before":[46],"inverse":[47],"kinematics":[48],"generates":[49],"actuator":[51],"commands.":[52],"previously":[54],"validated":[55,242],"ROS/Gazebo":[56],"digital":[57],"twin":[58],"(DT)":[59],"provides":[60],"kinematic":[62],"model":[63],"used":[64],"reference":[66],"generation":[67],"validation,":[69],"while":[70],"Dynamixel":[72],"MX-64":[73],"encoders":[74],"are":[75,237],"retained":[76],"only":[77],"as":[78],"independent":[80,152,245],"measurement":[81],"source":[82],"training,":[84],"calibration,":[85],"experimental":[87],"validation.":[88],"On":[89],"3142":[90],"test":[91],"images,":[92],"observer":[94,241],"achieved":[95],"position":[97],"RMSE":[98,156,165],"3.455":[100],"mm":[101,183,188],"(MAE":[102],"=":[103],"2.804":[104],"mm).":[105],"Wilcoxon":[106],"tests":[107],"detected":[108],"no":[109],"significant":[110],"median":[111],"offset":[112],"on":[113,218,268,277,284],"either":[114],"axis,":[116],"although":[117],"confidence":[118],"intervals":[119],"arithmetic":[122],"mean":[123,130],"differences":[124],"excluded":[125],"zero":[126],"indicate":[128],"small":[129],"offsets.":[131],"The":[132,191,232],"closed":[133],"loop":[134],"was":[135,282],"then":[136],"characterized":[137],"over":[138],"24":[139],"physical":[140],"runs":[141],"four":[143],"geometries":[145],"in":[146],"two":[147],"configurations:":[148],"continuous":[149],"execution":[150],"with":[151,184,289],"monitoring":[154],"(pooled":[155,164],"1.78":[157],"mm,":[158,167,199],"n=4608)":[159],"segment-wise":[161,261],"correction":[163,177,185,193,263],"3.91":[166],"n=4716).":[168],"dedicated":[170],"ablation":[171],"isolated":[172],"contribution":[174],"itself":[178],"under":[179,229],"identical":[180],"segmentation:":[181],"4.257":[182],"against":[186,243],"4.331":[187],"without":[189],"it.":[190],"therefore":[194],"improves":[195],"tracking":[196,274],"by":[197],"0.074":[198],"whereas":[200],"interruption":[203],"required":[204],"to":[205,295],"apply":[206],"it":[207],"costs":[208],"2.13":[209],"mm.":[210],"Grad-CAM,":[211],"LIME,":[212],"SHAP":[214],"concentrated":[215],"their":[216],"attribution":[217],"marker":[221],"during":[222],"successful":[223],"detections":[224],"lost":[226],"spatial":[227],"agreement":[228],"synthetic":[230],"occlusion.":[231],"contributions":[233],"this":[235],"vision-based":[239],"state":[240],"encoder":[246],"channel,":[247],"multi-method":[249],"explainability":[250],"audit":[251],"that":[253],"observer,":[254],"quantified":[257],"assessment":[258],"when":[260],"is":[264],"worth":[265],"its":[266],"cost":[267],"lightweight":[270],"mechanism":[272],"whose":[273],"accuracy":[275],"depends":[276],"uninterrupted":[278],"motion.":[279],"Physical":[280],"validation":[281],"performed":[283],"Dynamixel-equipped":[286],"prototype;":[287],"operation":[288],"actuators":[290],"lacking":[291],"joint-state":[292],"telemetry":[293],"remains":[294],"be":[296],"investigated.":[297]},"counts_by_year":[],"updated_date":"2026-11-11T12:16:26.678958","created_date":"2026-10-10T00:00:00"}