{"id":"https://openalex.org/W2019157325","doi":"https://doi.org/10.1002/(sici)1097-4563(199607)13:7<429::aid-rob2>3.0.co;2-q","title":"A new approach to robust position/force control of flexible-joint robot manipulators","display_name":"A new approach to robust position/force control of flexible-joint robot manipulators","publication_year":1996,"publication_date":"1996-07-01","ids":{"openalex":"https://openalex.org/W2019157325","doi":"https://doi.org/10.1002/(sici)1097-4563(199607)13:7<429::aid-rob2>3.0.co;2-q","mag":"2019157325"},"language":"en","primary_location":{"id":"doi:10.1002/(sici)1097-4563(199607)13:7<429::aid-rob2>3.0.co;2-q","is_oa":false,"landing_page_url":"https://doi.org/10.1002/(sici)1097-4563(199607)13:7<429::aid-rob2>3.0.co;2-q","pdf_url":null,"source":{"id":"https://openalex.org/S6068926","display_name":"Journal of Robotic Systems","issn_l":"0741-2223","issn":["0741-2223","1097-4563"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotic Systems","raw_type":"journal-article"},"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":"https://openalex.org/A5050232158","display_name":"G. Hugh Song","orcid":"https://orcid.org/0000-0003-2649-3352"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"G. Song","raw_affiliation_strings":["Department of Mechanical Engineering, Columbia University, New York, New York","Department of Mechanical Engineering Columbia University New York, New York"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Columbia University, New York, New York","institution_ids":["https://openalex.org/I78577930"]},{"raw_affiliation_string":"Department of Mechanical Engineering Columbia University New York, New York","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086746405","display_name":"Lilong Cai","orcid":"https://orcid.org/0000-0002-8034-9645"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"L. Cai","raw_affiliation_strings":["Department of Mechanical Engineering, Hong Kong University of Science and Technology, Kowloon, Hong Kong","Dept. of Mechanical Engineering, Hong Kong University of Science and Technology, Kowloon, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Hong Kong University of Science and Technology, Kowloon, Hong Kong","institution_ids":["https://openalex.org/I200769079"]},{"raw_affiliation_string":"Dept. of Mechanical Engineering, Hong Kong University of Science and Technology, Kowloon, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5050232158"],"corresponding_institution_ids":["https://openalex.org/I78577930"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.15987038,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"13","issue":"7","first_page":"429","last_page":"444"},"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":0.9997000098228455,"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":0.9997000098228455,"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":0.9991999864578247,"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":0.996399998664856,"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/control-theory","display_name":"Control theory (sociology)","score":0.8510109186172485},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5911756753921509},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5503541231155396},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5471290349960327},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5137323141098022},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.49533310532569885},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.48953136801719666},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4789598286151886},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.448382169008255},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4450077712535858},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4275491237640381},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.4189060628414154},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.416599839925766},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.36834532022476196},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18133693933486938},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.12741619348526},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1119874119758606},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.09075352549552917}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8510109186172485},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5911756753921509},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5503541231155396},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5471290349960327},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5137323141098022},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.49533310532569885},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.48953136801719666},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4789598286151886},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.448382169008255},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4450077712535858},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4275491237640381},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.4189060628414154},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.416599839925766},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.36834532022476196},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18133693933486938},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.12741619348526},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1119874119758606},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.09075352549552917},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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:10.1002/(sici)1097-4563(199607)13:7<429::aid-rob2>3.0.co;2-q","is_oa":false,"landing_page_url":"https://doi.org/10.1002/(sici)1097-4563(199607)13:7<429::aid-rob2>3.0.co;2-q","pdf_url":null,"source":{"id":"https://openalex.org/S6068926","display_name":"Journal of Robotic Systems","issn_l":"0741-2223","issn":["0741-2223","1097-4563"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/15","score":0.5099999904632568,"display_name":"Life in Land"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W658292533","https://openalex.org/W1496777766","https://openalex.org/W1995090200","https://openalex.org/W1997730203","https://openalex.org/W2069626782","https://openalex.org/W2102166849","https://openalex.org/W2104695963","https://openalex.org/W2123800766","https://openalex.org/W2129425000","https://openalex.org/W2140926370","https://openalex.org/W2143829770","https://openalex.org/W2160279521","https://openalex.org/W2164695368","https://openalex.org/W2169222367","https://openalex.org/W2492206318"],"related_works":["https://openalex.org/W2007221537","https://openalex.org/W2490690736","https://openalex.org/W2080330449","https://openalex.org/W2099333796","https://openalex.org/W1999058329","https://openalex.org/W2168383058","https://openalex.org/W2164703465","https://openalex.org/W2143247663","https://openalex.org/W1864017312","https://openalex.org/W2050693590"],"abstract_inverted_index":{"In":[0],"this":[1,106,185],"paper":[2],"a":[3,67,82,113,123,217,241,245],"new":[4],"approach":[5,186],"employing":[6],"smooth":[7,218,223],"robust":[8,83],"compensators":[9],"is":[10,24,47,60,70,85,133,152,160,235],"proposed":[11,214,233],"for":[12,72,100,163,205],"the":[13,27,34,38,44,51,54,73,89,96,101,108,119,138,143,164,188,206,210,226,232,238],"control":[14,58,165,219],"of":[15,31,43,53,116,142,148,157,170,209,231,240,244],"uncertain":[16],"elastic-joint":[17],"robot":[18,109,171],"manipulators":[19,29],"during":[20],"contact":[21,199,227],"tasks.":[22],"It":[23,203],"assumed":[25,48],"that":[26,93],"flexible-joint":[28,247],"consist":[30],"two":[32,64],"subsystems:":[33],"rigid":[35,55,74,102],"subsystem":[36,46,91],"and":[37,154,173,176,221],"flexible":[39,45,90],"subsystem.":[40,56,103],"The":[41,57,146,213,229],"output":[42],"to":[49,87,136],"be":[50],"input":[52,69],"design":[59],"carried":[61],"out":[62],"in":[63],"steps.":[65],"First,":[66],"desired":[68,124],"designed":[71,86,99],"subsystem,":[75],"which":[76],"can":[77,111],"robustly":[78],"stabilize":[79,88],"it.":[80],"Second,":[81],"controller":[84,215,234],"so":[92],"it":[94],"generates":[95],"necessary":[97],"torque":[98],"By":[104],"using":[105],"approach,":[107],"manipulator":[110],"exert":[112],"preset":[114],"amount":[115],"force":[117,200],"on":[118,197,225],"environment":[120],"while":[121],"tracking":[122],"trajectory":[125],"with":[126,237],"global":[127,139],"asymptotic":[128,140],"stability.":[129],"Lyapunov's":[130],"direct":[131],"method":[132],"used":[134],"here":[135],"prove":[137],"stability":[141],"closed-loop":[144],"system.":[145],"assumption":[147],"weak":[149],"joint":[150,158],"elasticity":[151],"relaxed":[153],"exact":[155,168],"knowledge":[156,169],"stiffness":[159],"not":[161,180],"required":[162],"design.":[166],"Also,":[167],"kinematic":[172],"dynamic":[174],"parameters":[175,178],"actuator":[177],"are":[179],"required.":[181],"Unlike":[182],"other":[183],"approaches,":[184],"takes":[187],"environmental":[189],"stick-slip":[190,211],"friction":[191],"as":[192,194],"well":[193],"its":[195],"dependency":[196],"normal":[198],"into":[201],"consideration.":[202],"compensates":[204],"adverse":[207],"effects":[208],"friction.":[212],"produces":[216],"action,":[220],"ensures":[222],"motion":[224],"surface.":[228],"efficacy":[230],"illustrated":[236],"help":[239],"numerical":[242],"example":[243],"two-link":[246],"robot.":[248],"\u00a9":[249],"1996":[250],"John":[251],"Wiley":[252],"&":[253],"Sons,":[254],"Inc.":[255]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-04-15T08:11:43.952461","created_date":"2025-10-10T00:00:00"}
