{"id":"https://openalex.org/W1977524675","doi":"https://doi.org/10.1002/(sici)1097-4563(199910)16:10<581::aid-rob4>3.0.co;2-t","title":"Position control of a flexible gantry robot arm using smart material actuators","display_name":"Position control of a flexible gantry robot arm using smart material actuators","publication_year":1999,"publication_date":"1999-10-01","ids":{"openalex":"https://openalex.org/W1977524675","doi":"https://doi.org/10.1002/(sici)1097-4563(199910)16:10<581::aid-rob4>3.0.co;2-t","mag":"1977524675"},"language":"en","primary_location":{"id":"doi:10.1002/(sici)1097-4563(199910)16:10<581::aid-rob4>3.0.co;2-t","is_oa":false,"landing_page_url":"https://doi.org/10.1002/(sici)1097-4563(199910)16:10<581::aid-rob4>3.0.co;2-t","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/A5036123643","display_name":"Sangsoo Han","orcid":"https://orcid.org/0000-0002-4767-8076"},"institutions":[{"id":"https://openalex.org/I191879574","display_name":"Inha University","ror":"https://ror.org/01easw929","country_code":"KR","type":"education","lineage":["https://openalex.org/I191879574"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sang-Soo Han","raw_affiliation_strings":["Department of Mechanical Engineering, Smart Structures and Systems Laboratory, Inha University, Incheon 402-751, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Smart Structures and Systems Laboratory, Inha University, Incheon 402-751, Republic of Korea","institution_ids":["https://openalex.org/I191879574"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074281591","display_name":"Seung\u2010Bok Choi","orcid":"https://orcid.org/0000-0001-6262-2815"},"institutions":[{"id":"https://openalex.org/I191879574","display_name":"Inha University","ror":"https://ror.org/01easw929","country_code":"KR","type":"education","lineage":["https://openalex.org/I191879574"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Seung-Bok Choi","raw_affiliation_strings":["Department of Mechanical Engineering, Smart Structures and Systems Laboratory, Inha University, Incheon 402-751, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Smart Structures and Systems Laboratory, Inha University, Incheon 402-751, Republic of Korea","institution_ids":["https://openalex.org/I191879574"]}]},{"author_position":"last","author":{"id":null,"display_name":"Jae-Hwan Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I191879574","display_name":"Inha University","ror":"https://ror.org/01easw929","country_code":"KR","type":"education","lineage":["https://openalex.org/I191879574"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jae-Hwan Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Smart Structures and Systems Laboratory, Inha University, Incheon 402-751, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Smart Structures and Systems Laboratory, Inha University, Incheon 402-751, Republic of Korea","institution_ids":["https://openalex.org/I191879574"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5074281591"],"corresponding_institution_ids":["https://openalex.org/I191879574"],"apc_list":null,"apc_paid":null,"fwci":3.0679,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.88484524,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"16","issue":"10","first_page":"581","last_page":"595"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10690","display_name":"Vibration Control and Rheological Fluids","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T10690","display_name":"Vibration Control and Rheological Fluids","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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":0.9995999932289124,"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/T12206","display_name":"Vibration and Dynamic Analysis","score":0.9994000196456909,"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":0.7484519481658936},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6998279094696045},{"id":"https://openalex.org/keywords/clutch","display_name":"Clutch","score":0.6539759635925293},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5701836347579956},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.5288206934928894},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.5287938714027405},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.49683406949043274},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4857328534126282},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4842212200164795},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4674934446811676},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.46467357873916626},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4405684471130371},{"id":"https://openalex.org/keywords/plant","display_name":"Plant","score":0.41144615411758423},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3954624533653259},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3381710350513458},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.28175675868988037},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13135340809822083},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.11021330952644348},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08309000730514526}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7484519481658936},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6998279094696045},{"id":"https://openalex.org/C30358287","wikidata":"https://www.wikidata.org/wiki/Q194302","display_name":"Clutch","level":2,"score":0.6539759635925293},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5701836347579956},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.5288206934928894},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5287938714027405},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.49683406949043274},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4857328534126282},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4842212200164795},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4674934446811676},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.46467357873916626},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4405684471130371},{"id":"https://openalex.org/C127205110","wikidata":"https://www.wikidata.org/wiki/Q639588","display_name":"Plant","level":3,"score":0.41144615411758423},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3954624533653259},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3381710350513458},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.28175675868988037},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13135340809822083},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.11021330952644348},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08309000730514526},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/(sici)1097-4563(199910)16:10<581::aid-rob4>3.0.co;2-t","is_oa":false,"landing_page_url":"https://doi.org/10.1002/(sici)1097-4563(199910)16:10<581::aid-rob4>3.0.co;2-t","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/7","score":0.6800000071525574,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1984726070","https://openalex.org/W1988798269","https://openalex.org/W2009150220","https://openalex.org/W2016709653","https://openalex.org/W2034847631","https://openalex.org/W2044435260","https://openalex.org/W2069077684","https://openalex.org/W2070578535","https://openalex.org/W2081178351","https://openalex.org/W2081760916","https://openalex.org/W2093259645","https://openalex.org/W2098304135","https://openalex.org/W2103610162","https://openalex.org/W2110190769","https://openalex.org/W2129038989","https://openalex.org/W2133239916","https://openalex.org/W2406624004"],"related_works":["https://openalex.org/W3108645022","https://openalex.org/W2362877944","https://openalex.org/W2057244293","https://openalex.org/W1589486833","https://openalex.org/W2116883285","https://openalex.org/W2312533462","https://openalex.org/W2633993204","https://openalex.org/W2125295719","https://openalex.org/W2119330273","https://openalex.org/W1998417408"],"abstract_inverted_index":{"This":[0],"article":[1],"presents":[2],"new":[3],"feedback":[4,71],"actuators":[5],"that":[6],"achieve":[7],"accurate":[8,87],"position":[9,88],"control":[10,44,89,103,140,166],"of":[11,46,81,93,107,124,127,163],"a":[12,49,125],"flexible":[13,50,83,95],"gantry":[14],"robot":[15],"arm.":[16,84],"Translational":[17],"motion":[18],"in":[19,122],"the":[20,40,54,74,79,82,91,94,108,143,164],"plane":[21],"is":[22,152],"generated":[23],"by":[24,30,69],"two":[25],"dc":[26],"motors":[27],"and":[28,113,139,172],"controlled":[29],"applying":[31],"electric":[32],"fields":[33,132],"to":[34,53,61,73,78,133,136],"electro-rheological":[35],"(ER)":[36],"clutch":[37,138],"actuators.":[38],"On":[39],"other":[41],"hand,":[42],"during":[43],"action":[45],"translational":[47],"motion,":[48],"arm":[51,96],"attached":[52,77],"moving":[55],"part":[56],"produces":[57],"undesirable":[58],"oscillations":[59],"due":[60],"its":[62],"inherent":[63],"flexibility.":[64],"Oscillations":[65],"are":[66,111,120,146,175],"actively":[67],"suppressed":[68],"employing":[70],"voltage":[72,141],"piezoceramic":[75,144],"actuator":[76,145],"surface":[80],"Consequently,":[85],"an":[86],"at":[90],"end-point":[92],"can":[97],"be":[98,134],"achieved.":[99],"To":[100,160],"accomplish":[101],"this":[102],"goal,":[104],"governing":[105],"equations":[106],"proposed":[109,165],"system":[110],"derived":[112],"written":[114],"as":[115],"transfer":[116],"functions.":[117],"Transfer":[118],"functions":[119],"used":[121],"design":[123,158],"set":[126],"robust":[128],"H\u221e":[129,149],"controllers.":[130],"Electric":[131],"applied":[135],"ER":[137],"for":[142,169],"determined":[147],"via":[148],"methodology":[150],"which":[151],"incorporated":[153],"with":[154],"classical":[155],"loop":[156],"shaping":[157],"technique.":[159],"evaluate":[161],"effectiveness":[162],"system,":[167],"experiments":[168],"both":[170],"regulating":[171],"tracking":[173],"controls":[174],"undertaken.":[176],"\u00a91999":[177],"John":[178],"Wiley":[179],"&":[180],"Sons,":[181],"Inc.":[182]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}
