{"id":"https://openalex.org/W1979856824","doi":"https://doi.org/10.1002/rob.4620110606","title":"Robustness analysis of a pd controller with approximate gravity compensation for robot manipulator control","display_name":"Robustness analysis of a pd controller with approximate gravity compensation for robot manipulator control","publication_year":1994,"publication_date":"1994-01-01","ids":{"openalex":"https://openalex.org/W1979856824","doi":"https://doi.org/10.1002/rob.4620110606","mag":"1979856824"},"language":"en","primary_location":{"id":"doi:10.1002/rob.4620110606","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620110606","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/A5110204477","display_name":"T.C. Hsia","orcid":null},"institutions":[{"id":"https://openalex.org/I84218800","display_name":"University of California, Davis","ror":"https://ror.org/05rrcem69","country_code":"US","type":"education","lineage":["https://openalex.org/I84218800"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"T. C. Hsia","raw_affiliation_strings":["Department of Electrical and Computer Engineering University of California, Davis Davis, CA 95616\u20135294"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering University of California, Davis Davis, CA 95616\u20135294","institution_ids":["https://openalex.org/I84218800"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5110204477"],"corresponding_institution_ids":["https://openalex.org/I84218800"],"apc_list":null,"apc_paid":null,"fwci":2.509,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.87613829,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"11","issue":"6","first_page":"517","last_page":"521"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","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"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","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/T11701","display_name":"Space Satellite Systems and Control","score":0.9898999929428101,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9785000085830688,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"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":0.8094103336334229},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7638540267944336},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.7516844272613525},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5653870701789856},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5587523579597473},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5161119699478149},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.45966964960098267},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4205542802810669},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3987637758255005},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3654106855392456},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.34200519323349},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27546611428260803},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13051056861877441},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11444175243377686},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.05691415071487427}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8094103336334229},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7638540267944336},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.7516844272613525},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5653870701789856},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5587523579597473},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5161119699478149},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.45966964960098267},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4205542802810669},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3987637758255005},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3654106855392456},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.34200519323349},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27546611428260803},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13051056861877441},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11444175243377686},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.05691415071487427},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/rob.4620110606","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620110606","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/16","score":0.550000011920929,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W1496777766","https://openalex.org/W1955880755","https://openalex.org/W2048603489","https://openalex.org/W2132294818","https://openalex.org/W2280888395","https://openalex.org/W2610796673","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2352472571","https://openalex.org/W2379084545","https://openalex.org/W2770593030","https://openalex.org/W4281727072","https://openalex.org/W4312219546","https://openalex.org/W3154990682","https://openalex.org/W2171975302","https://openalex.org/W2039329986","https://openalex.org/W1532073221","https://openalex.org/W2372125609"],"abstract_inverted_index":{"Abstract":[0],"Asymptotically":[1],"stable":[2],"robot":[3],"manipulator":[4],"control":[5,32],"in":[6,59],"both":[7],"joint":[8],"space":[9,12,71],"and":[10],"Cartesian":[11,70],"can":[13],"be":[14],"achieved":[15],"by":[16,77],"using":[17],"a":[18,54],"PD":[19],"controller":[20],"with":[21,38],"gravity":[22,43,61],"torque":[23],"compensation.":[24],"However,":[25],"the":[26,39,60,69],"stability":[27,55],"of":[28,31,41,47],"this":[29,48],"class":[30],"law":[33],"has":[34],"not":[35],"been":[36],"analyzed":[37],"use":[40],"estimated":[42],"torques.":[44],"The":[45,63,73],"objective":[46],"article":[49],"is":[50,65,75],"to":[51],"present":[52],"such":[53],"proof":[56,64],"assuming":[57],"uncertainty":[58],"estimate.":[62],"carried":[66],"out":[67],"for":[68],"controller.":[72],"result":[74],"supported":[76],"computer":[78],"simulation.":[79],"\u00a9":[80],"1994":[81],"John":[82],"Wiley":[83],"&":[84],"Sons,":[85],"Inc.":[86]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}