{"id":"https://openalex.org/W2092837624","doi":"https://doi.org/10.1007/bf00571698","title":"Control of multi-axis robots with elastic joints via cascade compensation using the method of exact linearization","display_name":"Control of multi-axis robots with elastic joints via cascade compensation using the method of exact linearization","publication_year":1996,"publication_date":"1996-12-01","ids":{"openalex":"https://openalex.org/W2092837624","doi":"https://doi.org/10.1007/bf00571698","mag":"2092837624"},"language":"en","primary_location":{"id":"doi:10.1007/bf00571698","is_oa":false,"landing_page_url":"https://doi.org/10.1007/bf00571698","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; 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/A5001393833","display_name":"J. Adongo Ochier","orcid":null},"institutions":[{"id":"https://openalex.org/I12859529","display_name":"University of Nairobi","ror":"https://ror.org/02y9nww90","country_code":"KE","type":"education","lineage":["https://openalex.org/I12859529"]}],"countries":["KE"],"is_corresponding":false,"raw_author_name":"J. Adongo Ochier","raw_affiliation_strings":["Department of Electrical Engineering, University of Nairobi, P.O. Box 30197, Nairobi, Kenya","Department of Electrical Engineering, University of Nairobi, Nairobi, Kenya"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of Nairobi, P.O. Box 30197, Nairobi, Kenya","institution_ids":["https://openalex.org/I12859529"]},{"raw_affiliation_string":"Department of Electrical Engineering, University of Nairobi, Nairobi, Kenya","institution_ids":["https://openalex.org/I12859529"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111867738","display_name":"P. C. M\ufffdller","orcid":null},"institutions":[{"id":"https://openalex.org/I12859529","display_name":"University of Nairobi","ror":"https://ror.org/02y9nww90","country_code":"KE","type":"education","lineage":["https://openalex.org/I12859529"]}],"countries":["KE"],"is_corresponding":false,"raw_author_name":"P. C. M\ufffdller","raw_affiliation_strings":["Department of Electrical Engineering, University of Nairobi, P.O. Box 30197, Nairobi, Kenya"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of Nairobi, P.O. Box 30197, Nairobi, Kenya","institution_ids":["https://openalex.org/I12859529"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I12859529"],"apc_list":{"value":2990,"currency":"USD","value_usd":2990},"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.22773723,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"17","issue":"4","first_page":"351","last_page":"370"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994999766349792,"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":0.9994999766349792,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9991999864578247,"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":0.8480368256568909},{"id":"https://openalex.org/keywords/cascade","display_name":"Cascade","score":0.7136343717575073},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.6549054980278015},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6115704774856567},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5595276951789856},{"id":"https://openalex.org/keywords/sylvesters-law-of-inertia","display_name":"Sylvester's law of inertia","score":0.5456417798995972},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5361734628677368},{"id":"https://openalex.org/keywords/coordinate-system","display_name":"Coordinate system","score":0.44506359100341797},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.4447609484195709},{"id":"https://openalex.org/keywords/inverse-system","display_name":"Inverse system","score":0.42208096385002136},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.4162580072879791},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41079485416412354},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.33660638332366943},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28824639320373535},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2398207187652588},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.0983944833278656},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09269699454307556},{"id":"https://openalex.org/keywords/symmetric-matrix","display_name":"Symmetric matrix","score":0.08783712983131409}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8480368256568909},{"id":"https://openalex.org/C34146451","wikidata":"https://www.wikidata.org/wiki/Q5048094","display_name":"Cascade","level":2,"score":0.7136343717575073},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.6549054980278015},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6115704774856567},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5595276951789856},{"id":"https://openalex.org/C56828936","wikidata":"https://www.wikidata.org/wiki/Q1752621","display_name":"Sylvester's law of inertia","level":4,"score":0.5456417798995972},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5361734628677368},{"id":"https://openalex.org/C80551277","wikidata":"https://www.wikidata.org/wiki/Q11210","display_name":"Coordinate system","level":2,"score":0.44506359100341797},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.4447609484195709},{"id":"https://openalex.org/C122129529","wikidata":"https://www.wikidata.org/wiki/Q2634828","display_name":"Inverse system","level":3,"score":0.42208096385002136},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.4162580072879791},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41079485416412354},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.33660638332366943},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28824639320373535},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2398207187652588},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0983944833278656},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09269699454307556},{"id":"https://openalex.org/C54848796","wikidata":"https://www.wikidata.org/wiki/Q339011","display_name":"Symmetric matrix","level":3,"score":0.08783712983131409},{"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/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C42360764","wikidata":"https://www.wikidata.org/wiki/Q83588","display_name":"Chemical engineering","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:10.1007/bf00571698","is_oa":false,"landing_page_url":"https://doi.org/10.1007/bf00571698","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; 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":18,"referenced_works":["https://openalex.org/W173385959","https://openalex.org/W1496777766","https://openalex.org/W1887006513","https://openalex.org/W1995090200","https://openalex.org/W1996500951","https://openalex.org/W2029273112","https://openalex.org/W2051758271","https://openalex.org/W2088206565","https://openalex.org/W2104002432","https://openalex.org/W2104752886","https://openalex.org/W2117796671","https://openalex.org/W2125308034","https://openalex.org/W2125905095","https://openalex.org/W2140998418","https://openalex.org/W2141331330","https://openalex.org/W2325337264","https://openalex.org/W3022344412","https://openalex.org/W3152302887"],"related_works":["https://openalex.org/W3192036299","https://openalex.org/W2553468687","https://openalex.org/W2953137247","https://openalex.org/W2146428417","https://openalex.org/W3176458675","https://openalex.org/W2013384158","https://openalex.org/W2097419103","https://openalex.org/W2552224111","https://openalex.org/W2165200846","https://openalex.org/W4252365928"],"abstract_inverted_index":null,"counts_by_year":[],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
