{"id":"https://openalex.org/W7225300672","doi":"https://doi.org/10.5302/j.icros.2026.26.0213","title":"Physics-guided Neural Network-based Friction Compensation Controller for Robotic Manipulators","display_name":"Physics-guided Neural Network-based Friction Compensation Controller for Robotic Manipulators","publication_year":2026,"publication_date":"2026-11-06","ids":{"openalex":"https://openalex.org/W7225300672","doi":"https://doi.org/10.5302/j.icros.2026.26.0213"},"language":"en","primary_location":{"id":"doi:10.5302/j.icros.2026.26.0213","doi":"https://doi.org/10.5302/j.icros.2026.26.0213","is_oa":false,"landing_page_url":"https://doi.org/10.5302/j.icros.2026.26.0213","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":["kci-registered","poland-40","russia-white-list-2"],"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","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/A5160947534","display_name":"Kyung-hwan Min","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kyung-hwan Min","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034899617","display_name":"\uc724\ud64d\ub82c","orcid":"https://orcid.org/0009-0006-0282-5286","observed_orcids":["https://orcid.org/0009-0006-0282-5286"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hongryeol Yoon","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048693164","display_name":"\uae40\ud55c\uc218","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hansu Kim","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049035836","display_name":"\uc774\uc11d\uc6d0","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Seokwon Lee","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5122857459","display_name":"Jongwon Kim","orcid":"https://orcid.org/0009-0000-6401-459X","observed_orcids":["https://orcid.org/0009-0000-6401-459X"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jongwon Kim","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":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"32","issue":"11","first_page":"1519","last_page":"1530"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.7538999915122986,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.7538999915122986,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.12790000438690186,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.040800001472234726,"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/friction-compensation","display_name":"friction compensation","score":0.9350000023841858},{"id":"https://openalex.org/keywords/robot-manipulators","display_name":"robot manipulators","score":0.9279999732971191},{"id":"https://openalex.org/keywords/physics-guided-neural-networks","display_name":"physics-guided neural networks","score":0.9279999732971191},{"id":"https://openalex.org/keywords/feedforward-control","display_name":"feedforward control","score":0.6079999804496765},{"id":"https://openalex.org/keywords/franka-emika-panda","display_name":"Franka Emika Panda","score":0.8450000286102295},{"id":"https://openalex.org/keywords/multilayer-perceptron","display_name":"multilayer perceptron","score":0.8479999899864197},{"id":"https://openalex.org/keywords/torque-estimation","display_name":"torque estimation","score":0.5139999985694885},{"id":"https://openalex.org/keywords/trajectory-tracking","display_name":"trajectory tracking","score":0.7799999713897705},{"id":"https://openalex.org/keywords/closed-loop-performance","display_name":"closed-loop performance","score":0.375}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.775600016117096},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.7085000276565552},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.6887999773025513},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5741000175476074},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5565999746322632},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5248000025749207},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.4325999915599823},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4004000127315521},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35409998893737793},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.35019999742507935},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31130000948905945},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.29679998755455017},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2815000116825104},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2770000100135803},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.25999999046325684}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.5302/j.icros.2026.26.0213","doi":"https://doi.org/10.5302/j.icros.2026.26.0213","is_oa":false,"landing_page_url":"https://doi.org/10.5302/j.icros.2026.26.0213","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":["kci-registered","poland-40","russia-white-list-2"],"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":[],"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/W6941584355","https://openalex.org/W80057230","https://openalex.org/W2282692141","https://openalex.org/W2157285523","https://openalex.org/W4380302247","https://openalex.org/W2088774526","https://openalex.org/W2659637696","https://openalex.org/W2613694318","https://openalex.org/W7100029940","https://openalex.org/W2788747366"],"abstract_inverted_index":{"This":[0],"study":[1],"proposes":[2],"a":[3,38,73],"physics-guided":[4],"neural-network":[5],"(PGNN)":[6],"feedforward":[7],"compensator":[8,129],"for":[9,68,103,141],"friction-related":[10],"joint-torque":[11],"residuals":[12],"in":[13],"robotic":[14],"manipulators.":[15],"The":[16],"Franka":[17],"Emika":[18],"Panda":[19],"robot\u2019s":[20],"low-pass-filtered":[21],"external-torque":[22],"estimate":[23],"was":[24,101],"used":[25],"as":[26],"the":[27,58,65,78,128],"learning":[28],"target":[29],"during":[30],"contact-free":[31],"single-joint":[32],"motion.":[33],"Joint-wise":[34],"multilayer":[35],"perceptrons":[36],"combine":[37],"soft":[39],"direction":[40,67],"penalty,":[41],"tanh":[42],"activations,":[43],"and":[44,83,93,115,132,153,155,164],"velocity":[45,66,95],"history.":[46],"Adding":[47],"measured":[48],"torque":[49],"history":[50],"reduced":[51,130],"validation":[52,109],"RMSE":[53,110,135,159],"by":[54,111,136,160],"58\u201394%":[55],"relative":[56],"to":[57,70,98],"uncompensated":[59],"residual,":[60],"but":[61],"generated":[62],"outputs":[63],"opposing":[64],"up":[69,97],"48%":[71],"of":[72],"steady-state":[74],"input":[75],"slice":[76],"with":[77,139],"other":[79],"inputs":[80],"held":[81],"fixed":[82],"an":[84],"estimated":[85],"offset":[86],"removed.":[87],"A":[88],"configuration":[89],"using":[90],"joint":[91],"position":[92],"five":[94],"taps":[96],"40":[99],"ms":[100],"selected":[102],"deployment":[104],"at":[105,151],"1":[106],"kHz,":[107],"reducing":[108],"44\u201387%.":[112],"Sine,":[113],"step,":[114],"chirp":[116],"tracking":[117,134],"tests":[118],"were":[119],"repeated":[120],"three":[121],"times":[122],"per":[123],"condition.":[124],"Over":[125],"1.5\u201320":[126],"s,":[127],"J6":[131],"J7":[133],"23\u201354%,":[137],"compared":[138],"13\u201344%":[140],"Gaz":[142],"et":[143],"al.\u2019s":[144],"sigmoid":[145],"model.":[146],"However,":[147],"it":[148],"increased":[149,156],"error":[150],"J2":[152],"J3":[154],"J5":[157],"step-tracking":[158],"28%":[161],"under":[162],"oscillation":[163],"saturation.":[165],"Lower":[166],"offline":[167],"prediction":[168],"errors":[169],"alone":[170],"did":[171],"not":[172],"consistently":[173],"translate":[174],"into":[175],"better":[176],"closed-loop":[177],"tracking.":[178]},"counts_by_year":[],"updated_date":"2026-11-08T12:12:28.789561","created_date":"2026-11-06T00:00:00"}
