{"id":"https://openalex.org/W1990607030","doi":"https://doi.org/10.1002/rob.4620090402","title":"Linearized dynamic models for trajectory control of robot manipulators","display_name":"Linearized dynamic models for trajectory control of robot manipulators","publication_year":1992,"publication_date":"1992-06-01","ids":{"openalex":"https://openalex.org/W1990607030","doi":"https://doi.org/10.1002/rob.4620090402","mag":"1990607030"},"language":"en","primary_location":{"id":"doi:10.1002/rob.4620090402","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620090402","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/A5109836991","display_name":"Akhilesh Swarup","orcid":null},"institutions":[{"id":"https://openalex.org/I68891433","display_name":"Indian Institute of Technology Delhi","ror":"https://ror.org/049tgcd06","country_code":"IN","type":"education","lineage":["https://openalex.org/I68891433"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"A. Swarup","raw_affiliation_strings":["Department of Electrical Engineering Indian Institute of Technology New Delhi 110016, India","Dept of Electrical Engineering, Indian Institute of Technology, New Delhi 110016, India"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering Indian Institute of Technology New Delhi 110016, India","institution_ids":["https://openalex.org/I68891433"]},{"raw_affiliation_string":"Dept of Electrical Engineering, Indian Institute of Technology, New Delhi 110016, India","institution_ids":["https://openalex.org/I68891433"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015795749","display_name":"M. Gopal","orcid":"https://orcid.org/0000-0001-7672-5399"},"institutions":[{"id":"https://openalex.org/I68891433","display_name":"Indian Institute of Technology Delhi","ror":"https://ror.org/049tgcd06","country_code":"IN","type":"education","lineage":["https://openalex.org/I68891433"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"M. Gopal","raw_affiliation_strings":["Department of Electrical Engineering Indian Institute of Technology New Delhi 110016, India","Dept of Electrical Engineering, Indian Institute of Technology, New Delhi 110016, India"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering Indian Institute of Technology New Delhi 110016, India","institution_ids":["https://openalex.org/I68891433"]},{"raw_affiliation_string":"Dept of Electrical Engineering, Indian Institute of Technology, New Delhi 110016, India","institution_ids":["https://openalex.org/I68891433"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5109836991"],"corresponding_institution_ids":["https://openalex.org/I68891433"],"apc_list":null,"apc_paid":null,"fwci":0.8281,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.71618439,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"9","issue":"4","first_page":"455","last_page":"459"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9998000264167786,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9998000264167786,"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/T11236","display_name":"Control Systems and Identification","score":0.9976000189781189,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9961000084877014,"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/linearization","display_name":"Linearization","score":0.8693141937255859},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8332816958427429},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.766099750995636},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6588349342346191},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6557998657226562},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5774208903312683},{"id":"https://openalex.org/keywords/basis","display_name":"Basis (linear algebra)","score":0.5555442571640015},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5185806751251221},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.47993355989456177},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45501509308815},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4142211377620697},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.3484286069869995},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32204151153564453},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3048173487186432},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1701710820198059},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.15328052639961243},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.046386152505874634}],"concepts":[{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.8693141937255859},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8332816958427429},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.766099750995636},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6588349342346191},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6557998657226562},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5774208903312683},{"id":"https://openalex.org/C12426560","wikidata":"https://www.wikidata.org/wiki/Q189569","display_name":"Basis (linear algebra)","level":2,"score":0.5555442571640015},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5185806751251221},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.47993355989456177},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45501509308815},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4142211377620697},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.3484286069869995},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32204151153564453},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3048173487186432},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1701710820198059},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.15328052639961243},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.046386152505874634},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/rob.4620090402","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620090402","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W1990777642","https://openalex.org/W1998365063","https://openalex.org/W2018197200","https://openalex.org/W2061966448","https://openalex.org/W2143031671","https://openalex.org/W2146349230"],"related_works":["https://openalex.org/W1998462347","https://openalex.org/W2349527210","https://openalex.org/W2903025760","https://openalex.org/W1836713364","https://openalex.org/W2131265573","https://openalex.org/W2899783744","https://openalex.org/W4300511988","https://openalex.org/W2317650444","https://openalex.org/W130230158","https://openalex.org/W2165424018"],"abstract_inverted_index":{"Abstract":[0],"To":[1],"make":[2],"an":[3],"appropriate":[4],"choice":[5],"of":[6,12,15,29,59,64],"linear":[7],"model":[8],"for":[9],"the":[10,27,37,42,57],"development":[11],"real\u2010time":[13],"control":[14],"robot":[16],"manipulators,":[17],"four":[18],"direct":[19],"linearization":[20,39,44,68],"schemes":[21],"have":[22],"been":[23],"studied":[24],"here":[25],"on":[26],"basis":[28],"computation":[30],"and":[31,54,66],"accuracy.":[32,55],"Accuracy":[33],"is":[34,69],"assured":[35],"in":[36],"state":[38,65],"method,":[40],"whereas":[41],"rate":[43,67],"method":[45],"leads":[46],"to":[47],"a":[48,62],"satisfactory":[49],"trade\u2010off":[50],"between":[51],"computational":[52],"effort":[53],"In":[56],"case":[58],"high\u2010velocity":[60],"motions,":[61],"combination":[63],"proposed.":[70]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
