{"id":"https://openalex.org/W2015997852","doi":"https://doi.org/10.1002/rob.4620120102","title":"Control of a two\u2010degree\u2010of\u2010freedom lightweight flexible arm with friction in the joints","display_name":"Control of a two\u2010degree\u2010of\u2010freedom lightweight flexible arm with friction in the joints","publication_year":1995,"publication_date":"1995-01-01","ids":{"openalex":"https://openalex.org/W2015997852","doi":"https://doi.org/10.1002/rob.4620120102","mag":"2015997852"},"language":"en","primary_location":{"id":"doi:10.1002/rob.4620120102","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620120102","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/A5108361874","display_name":"Vincente Feliu","orcid":null},"institutions":[{"id":"https://openalex.org/I178450904","display_name":"Universidad Nacional de Educaci\u00f3n a Distancia","ror":"https://ror.org/02msb5n36","country_code":"ES","type":"education","lineage":["https://openalex.org/I178450904"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Vincente Feliu","raw_affiliation_strings":["Dpto Ingenieria Electrica, Electronica y Com E.T.S.I. Industrials UNED Madrid-28080, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dpto Ingenieria Electrica, Electronica y Com E.T.S.I. Industrials UNED Madrid-28080, Spain","institution_ids":["https://openalex.org/I178450904"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111471706","display_name":"K.S. Rattan","orcid":null},"institutions":[{"id":"https://openalex.org/I19648265","display_name":"Wright State University","ror":"https://ror.org/04qk6pt94","country_code":"US","type":"education","lineage":["https://openalex.org/I19648265"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Kuldip S. Rattan","raw_affiliation_strings":["Department of Electrical Engineering Wright State University Dayton, OH 45435","Dept, of Electrical Engineering, Wright State University, Dayton, OH 45435"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering Wright State University Dayton, OH 45435","institution_ids":["https://openalex.org/I19648265"]},{"raw_affiliation_string":"Dept, of Electrical Engineering, Wright State University, Dayton, OH 45435","institution_ids":["https://openalex.org/I19648265"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111452353","display_name":"H. Benjam\u00edn Brown","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"H. Benjamin Brown","raw_affiliation_strings":["Robotics Institute Carnegie Mellon University Pittsburgh, PA 15213","Robotics Institute, Carnegie-Mellon University, Pittsburgh, Pa. 15213"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute Carnegie Mellon University Pittsburgh, PA 15213","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, Carnegie-Mellon University, Pittsburgh, Pa. 15213","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5111471706"],"corresponding_institution_ids":["https://openalex.org/I19648265"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.15953816,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"12","issue":"1","first_page":"1","last_page":"17"},"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":0.9998999834060669,"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":0.9998999834060669,"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":0.9990000128746033,"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/T12809","display_name":"Contact Mechanics and Variational Inequalities","score":0.9934999942779541,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/decoupling","display_name":"Decoupling (probability)","score":0.8507635593414307},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7522220015525818},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.6111095547676086},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.46966612339019775},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.4546040892601013},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.43453794717788696},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4344678521156311},{"id":"https://openalex.org/keywords/inner-loop","display_name":"Inner loop","score":0.4117147624492645},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.30838286876678467},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.29216909408569336},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2069883942604065},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20550823211669922},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1731785237789154}],"concepts":[{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.8507635593414307},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7522220015525818},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.6111095547676086},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.46966612339019775},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.4546040892601013},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.43453794717788696},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4344678521156311},{"id":"https://openalex.org/C58716799","wikidata":"https://www.wikidata.org/wiki/Q6035648","display_name":"Inner loop","level":3,"score":0.4117147624492645},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.30838286876678467},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.29216909408569336},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2069883942604065},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20550823211669922},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1731785237789154},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","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},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical 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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/rob.4620120102","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620120102","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":5,"referenced_works":["https://openalex.org/W845010965","https://openalex.org/W2106844458","https://openalex.org/W2140812165","https://openalex.org/W4205799798","https://openalex.org/W4249844930"],"related_works":["https://openalex.org/W2152950565","https://openalex.org/W1617565119","https://openalex.org/W160381218","https://openalex.org/W2512958550","https://openalex.org/W2099777870","https://openalex.org/W2329266651","https://openalex.org/W3103825105","https://openalex.org/W2004102934","https://openalex.org/W4366455350","https://openalex.org/W2810648873"],"abstract_inverted_index":{"Abstract":[0],"This":[1,14],"article":[2],"describes":[3],"the":[4,30,54,60,71,76,86,93,99,102,105,109,130,133,139],"design":[5,50],"and":[6,32,51,135],"control":[7,85,119],"of":[8,25,56,75,101,132,142],"a":[9,34],"two\u2010joint,":[10],"two\u2010link":[11],"flexible":[12,15,68,88,121],"arm.":[13,122],"arm":[16,89],"was":[17],"built":[18],"with":[19,90],"very":[20],"light":[21],"links,":[22],"has":[23],"most":[24],"its":[26],"mass":[27],"concentrated":[28],"at":[29],"tip":[31,42,46,110],"uses":[33],"special":[35],"mechanical":[36],"configuration":[37],"to":[38,59,84,118,128],"approximately":[39],"decouple":[40],"radial":[41],"motions":[43],"from":[44],"angular":[45],"motions.":[47],"The":[48,95,112,123],"lightweight":[49,67,87],"decoupling":[52],"maximize":[53],"efficiency":[55],"power":[57],"transmitted":[58],"load.":[61],"An":[62],"important":[63],"problem":[64],"when":[65],"controlling":[66],"arms":[69],"is":[70,82,116,126,136],"large":[72],"Coulomb":[73],"friction":[74,91],"motors.":[77],"A":[78],"two\u2010nested\u2010loop":[79],"multivariable":[80],"controller":[81],"used":[83,127],"in":[92,138],"joints.":[94],"inner":[96],"loop":[97,107],"controls":[98,108],"position":[100],"motors":[103],"while":[104],"outer":[106],"position.":[111],"resolved":[113],"acceleration":[114],"method":[115],"generalized":[117],"this":[120,143],"compliance":[124],"matrix":[125],"model":[129],"oscillations":[131],"structure":[134],"included":[137],"decoupling/linearizing":[140],"term":[141],"controller.":[144],"Experimental":[145],"results":[146],"are":[147],"presented.":[148],"\u00a9":[149],"1995":[150],"John":[151],"Wiley":[152],"&":[153],"Sons,":[154],"Inc":[155],".":[156]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}