{"id":"https://openalex.org/W2026630377","doi":"https://doi.org/10.1002/rob.4620110202","title":"Identification of a trajectory generator model for the PUMA\u2010560 robot","display_name":"Identification of a trajectory generator model for the PUMA\u2010560 robot","publication_year":1994,"publication_date":"1994-01-01","ids":{"openalex":"https://openalex.org/W2026630377","doi":"https://doi.org/10.1002/rob.4620110202","mag":"2026630377"},"language":"en","primary_location":{"id":"doi:10.1002/rob.4620110202","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620110202","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/A5021488416","display_name":"Bertrand Tondu","orcid":"https://orcid.org/0000-0002-0301-397X"},"institutions":[{"id":"https://openalex.org/I196454796","display_name":"Institut National des Sciences Appliqu\u00e9es de Toulouse","ror":"https://ror.org/01h8pf755","country_code":"FR","type":"education","lineage":["https://openalex.org/I196454796","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Bertrand Tondu","raw_affiliation_strings":["De\u0301partment de Ge\u0301nie Electrique Institut National de Sciences Applique\u0301es Campus Universitaire de Rangueil, 31077 Toulouse, France","D\u00e9partment de G\u00e9nie Electrique Institut National de Sciences Appliqu\u00e9es Campus Universitaire de Rangueil, 31077 Toulouse, France"],"affiliations":[{"raw_affiliation_string":"De\u0301partment de Ge\u0301nie Electrique Institut National de Sciences Applique\u0301es Campus Universitaire de Rangueil, 31077 Toulouse, France","institution_ids":["https://openalex.org/I196454796"]},{"raw_affiliation_string":"D\u00e9partment de G\u00e9nie Electrique Institut National de Sciences Appliqu\u00e9es Campus Universitaire de Rangueil, 31077 Toulouse, France","institution_ids":["https://openalex.org/I196454796"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024556333","display_name":"H.I. El-Zorkany","orcid":null},"institutions":[{"id":"https://openalex.org/I4210159778","display_name":"National Research Council Canada","ror":"https://ror.org/04mte1k06","country_code":"CA","type":"government","lineage":["https://openalex.org/I4210159778"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Hany El\u2010zorkany","raw_affiliation_strings":["Systems Laboratory National Research Council of Canada Montreal Road, Ottawa, Canada, K1A OR6"],"affiliations":[{"raw_affiliation_string":"Systems Laboratory National Research Council of Canada Montreal Road, Ottawa, Canada, K1A OR6","institution_ids":["https://openalex.org/I4210159778"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5021488416"],"corresponding_institution_ids":["https://openalex.org/I196454796"],"apc_list":null,"apc_paid":null,"fwci":0.8376,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.73019042,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"11","issue":"2","first_page":"77","last_page":"90"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","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"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9984999895095825,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9955999851226807,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/trajectory","display_name":"Trajectory","score":0.800798773765564},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6907790899276733},{"id":"https://openalex.org/keywords/generator","display_name":"Generator (circuit theory)","score":0.6889328956604004},{"id":"https://openalex.org/keywords/puma","display_name":"Puma","score":0.6818271279335022},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.6463028192520142},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.5323413014411926},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5289425849914551},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.470043808221817},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.46357348561286926},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4615687429904938},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.42391258478164673},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4035673141479492},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3627740740776062},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3268475830554962},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13949868083000183},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.11912679672241211},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11315011978149414},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.06852900981903076},{"id":"https://openalex.org/keywords/chemistry","display_name":"Chemistry","score":0.06380671262741089}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.800798773765564},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6907790899276733},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.6889328956604004},{"id":"https://openalex.org/C2777417711","wikidata":"https://www.wikidata.org/wiki/Q270748","display_name":"Puma","level":3,"score":0.6818271279335022},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.6463028192520142},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.5323413014411926},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5289425849914551},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.470043808221817},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.46357348561286926},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4615687429904938},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42391258478164673},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4035673141479492},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3627740740776062},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3268475830554962},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13949868083000183},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.11912679672241211},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11315011978149414},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.06852900981903076},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.06380671262741089},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/rob.4620110202","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620110202","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":4,"referenced_works":["https://openalex.org/W1582353822","https://openalex.org/W2077726862","https://openalex.org/W2105935112","https://openalex.org/W6675971413"],"related_works":["https://openalex.org/W3029624080","https://openalex.org/W2383247791","https://openalex.org/W2383847661","https://openalex.org/W2977641071","https://openalex.org/W2112968535","https://openalex.org/W2255064539","https://openalex.org/W2347355260","https://openalex.org/W1967092074","https://openalex.org/W2903025760","https://openalex.org/W2018977954"],"abstract_inverted_index":{"Abstract":[0],"In":[1],"this":[2],"article,":[3],"work":[4,29],"on":[5,27,56],"the":[6,13,32,35,47,57,67,70],"experimental":[7],"identification":[8],"of":[9,12,16,59,69],"a":[10,17,60],"model":[11,23,43],"trajectory":[14],"generator":[15],"PUMA\u2010560":[18],"robot":[19,50,71],"is":[20,25,44],"reported.":[21],"The":[22,41],"developed":[24],"based":[26,55],"theoretical":[28],"reported":[30],"in":[31],"literature":[33],"and":[34],"necessary":[36],"parameters":[37],"are":[38,54],"obtained":[39],"experimentally.":[40],"resulting":[42],"validated":[45],"versus":[46],"corresponding":[48],"actual":[49],"motions.":[51],"All":[52],"experiments":[53],"use":[58],"3D":[61],"non\u2010contact":[62],"position":[63],"sensor":[64],"to":[65],"record":[66],"motions":[68],"end\u2010effector.":[72],"\u00a9":[73],"1994":[74],"John":[75],"Wiley":[76],"&":[77],"Sons,":[78],"Inc.":[79]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}