{"id":"https://openalex.org/W4317510611","doi":"https://doi.org/10.1007/s10846-022-01795-x","title":"Kinematic Modelling and Position Control of A 3-DOF Parallel Stabilizing Robot Manipulator","display_name":"Kinematic Modelling and Position Control of A 3-DOF Parallel Stabilizing Robot Manipulator","publication_year":2023,"publication_date":"2023-01-19","ids":{"openalex":"https://openalex.org/W4317510611","doi":"https://doi.org/10.1007/s10846-022-01795-x"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-022-01795-x","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-022-01795-x","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-022-01795-x.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s10846-022-01795-x.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5020705403","display_name":"Masoud Latifinavid","orcid":"https://orcid.org/0000-0002-6557-4414"},"institutions":[{"id":"https://openalex.org/I4210145505","display_name":"University of Turkish Aeronautical Association","ror":"https://ror.org/055p14r26","country_code":"TR","type":"education","lineage":["https://openalex.org/I4210145505"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Masoud Latifinavid","raw_affiliation_strings":["Department of Mechatronic Engineering, University of Turkish Aeronautical Association, 06790, Ankara, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechatronic Engineering, University of Turkish Aeronautical Association, 06790, Ankara, Turkey","institution_ids":["https://openalex.org/I4210145505"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053903265","display_name":"Aydin Azizi","orcid":"https://orcid.org/0000-0001-6772-743X"},"institutions":[{"id":"https://openalex.org/I124261462","display_name":"Oxford Brookes University","ror":"https://ror.org/04v2twj65","country_code":"GB","type":"education","lineage":["https://openalex.org/I124261462"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Aydin Azizi","raw_affiliation_strings":["School of Engineering, Computing and Mathematics, Oxford Brookes University, Wheatley Campus, Oxford, OX33 1HX, UK"],"raw_orcid":"https://orcid.org/0000-0001-6772-743X","affiliations":[{"raw_affiliation_string":"School of Engineering, Computing and Mathematics, Oxford Brookes University, Wheatley Campus, Oxford, OX33 1HX, UK","institution_ids":["https://openalex.org/I124261462"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5053903265"],"corresponding_institution_ids":["https://openalex.org/I124261462"],"apc_list":{"value":2990,"currency":"USD","value_usd":2990},"apc_paid":{"value":2990,"currency":"USD","value_usd":2990},"fwci":3.7254,"has_fulltext":true,"cited_by_count":33,"citation_normalized_percentile":{"value":0.94015091,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"107","issue":"2","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","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"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","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"}},{"id":"https://openalex.org/T13579","display_name":"Image and Video Stabilization","score":0.9991999864578247,"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"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9973000288009644,"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/kinematics","display_name":"Kinematics","score":0.7866405844688416},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7804017663002014},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.6952782273292542},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5090286731719971},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.4984750747680664},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.49107885360717773},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.47924020886421204},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4780464768409729},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.4771979749202728},{"id":"https://openalex.org/keywords/kinematic-chain","display_name":"Kinematic chain","score":0.4649689495563507},{"id":"https://openalex.org/keywords/sylvesters-law-of-inertia","display_name":"Sylvester's law of inertia","score":0.4570707082748413},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.456102192401886},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.45126911997795105},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44969919323921204},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"Forward kinematics","score":0.4376629590988159},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.42668572068214417},{"id":"https://openalex.org/keywords/kinematics-equations","display_name":"Kinematics equations","score":0.41129860281944275},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.41052547097206116},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3801589906215668},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35943683981895447},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.3309991657733917},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19700992107391357},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1364142894744873},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13278159499168396},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.11443895101547241},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07358372211456299}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7866405844688416},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7804017663002014},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.6952782273292542},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5090286731719971},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.4984750747680664},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.49107885360717773},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.47924020886421204},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4780464768409729},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.4771979749202728},{"id":"https://openalex.org/C62837456","wikidata":"https://www.wikidata.org/wiki/Q678308","display_name":"Kinematic chain","level":3,"score":0.4649689495563507},{"id":"https://openalex.org/C56828936","wikidata":"https://www.wikidata.org/wiki/Q1752621","display_name":"Sylvester's law of inertia","level":4,"score":0.4570707082748413},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.456102192401886},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.45126911997795105},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44969919323921204},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.4376629590988159},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42668572068214417},{"id":"https://openalex.org/C204172952","wikidata":"https://www.wikidata.org/wiki/Q6410697","display_name":"Kinematics equations","level":5,"score":0.41129860281944275},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.41052547097206116},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3801589906215668},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35943683981895447},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3309991657733917},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19700992107391357},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1364142894744873},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13278159499168396},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.11443895101547241},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07358372211456299},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C54848796","wikidata":"https://www.wikidata.org/wiki/Q339011","display_name":"Symmetric matrix","level":3,"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s10846-022-01795-x","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-022-01795-x","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-022-01795-x.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"},{"id":"pmh:tle:49fe25e5-e64d-46e7-8340-ca21655e717d:afee126f-04b2-41a9-a6dd-b29b7c6c20ab:1","is_oa":true,"landing_page_url":"https://radar.brookes.ac.uk/radar/items/49fe25e5-e64d-46e7-8340-ca21655e717d/1/","pdf_url":"https://radar.brookes.ac.uk/radar/file/49fe25e5-e64d-46e7-8340-ca21655e717d/1/s10846-022-01795-x.pdf","source":{"id":"https://openalex.org/S4306400541","display_name":"Radar (Oxford Brookes University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I124261462","host_organization_name":"Oxford Brookes University","host_organization_lineage":["https://openalex.org/I124261462"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"journal article"}],"best_oa_location":{"id":"doi:10.1007/s10846-022-01795-x","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-022-01795-x","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-022-01795-x.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.6600000262260437,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4317510611.pdf","grobid_xml":"https://content.openalex.org/works/W4317510611.grobid-xml"},"referenced_works_count":43,"referenced_works":["https://openalex.org/W1963551751","https://openalex.org/W1970536137","https://openalex.org/W1992601993","https://openalex.org/W2021937618","https://openalex.org/W2039446760","https://openalex.org/W2044539866","https://openalex.org/W2062195789","https://openalex.org/W2064071544","https://openalex.org/W2065424381","https://openalex.org/W2103358316","https://openalex.org/W2129264762","https://openalex.org/W2135521313","https://openalex.org/W2149644396","https://openalex.org/W2308885700","https://openalex.org/W2623660146","https://openalex.org/W2739537072","https://openalex.org/W2769679916","https://openalex.org/W2771345652","https://openalex.org/W2789327938","https://openalex.org/W2884159891","https://openalex.org/W2890539293","https://openalex.org/W2895731812","https://openalex.org/W2911901665","https://openalex.org/W2912616359","https://openalex.org/W3005426010","https://openalex.org/W3008429429","https://openalex.org/W3011656027","https://openalex.org/W3012782516","https://openalex.org/W3013075150","https://openalex.org/W3036193678","https://openalex.org/W3040978121","https://openalex.org/W3059965140","https://openalex.org/W3097590012","https://openalex.org/W3126452415","https://openalex.org/W3127527068","https://openalex.org/W3140801635","https://openalex.org/W3142823662","https://openalex.org/W3170168083","https://openalex.org/W3185154266","https://openalex.org/W3190868270","https://openalex.org/W3202358609","https://openalex.org/W4226334784","https://openalex.org/W4231599838"],"related_works":["https://openalex.org/W2138377666","https://openalex.org/W2154335066","https://openalex.org/W2112869933","https://openalex.org/W2054430081","https://openalex.org/W2385715668","https://openalex.org/W2365938927","https://openalex.org/W1535075159","https://openalex.org/W2358471052","https://openalex.org/W2359136437","https://openalex.org/W2370907317"],"abstract_inverted_index":{"Abstract":[0],"This":[1],"paper":[2],"focuses":[3],"on":[4],"investigating":[5],"a":[6,45,150],"parallel":[7,144],"camera":[8,114],"stabilizing":[9,115,155],"manipulator":[10,42,93],"with":[11,44],"three":[12,19],"angular":[13],"degrees":[14],"of":[15,40,85,91,104,111,130,138,157],"freedom":[16],"controlled":[17],"by":[18],"linear":[20,106],"actuators.":[21],"An":[22],"experimental":[23,109],"setup":[24],"is":[25,47,77,94],"designed":[26],"and":[27,70,83,101,141,159],"manufactured":[28],"to":[29,49],"actively":[30],"isolate":[31],"the":[32,41,54,68,81,86,92,98,105,112,127,131,134,139,154],"host":[33],"vehicle's":[34],"disturbing":[35],"motions.":[36],"The":[37,108,119],"kinematic":[38,136],"analysis":[39],"combined":[43],"controller":[46],"used":[48,63,95],"disturbance":[50],"rejection":[51],"coming":[52],"from":[53,67],"base":[55,69],"platform.":[56],"Two":[57],"inertia":[58],"measurement":[59],"units":[60],"(IMU)":[61],"are":[62,117],"for":[64,79,96,153],"real-time":[65],"feedback":[66],"up-per":[71],"platforms'":[72],"orientation.":[73],"A":[74],"Kalman":[75],"filter":[76],"implemented":[78],"handling":[80],"noises":[82],"drifts":[84],"IMUs":[87],"data.":[88],"Inverse":[89],"kinematics":[90],"calculating":[97],"actuating":[99],"commands":[100],"velocity":[102],"control":[103],"motors.":[107],"results":[110,120],"proposed":[113],"system":[116,140,147,156],"shown.":[118],"indicate":[121],"its":[122,142],"good":[123,151],"capability":[124],"in":[125],"following":[126],"reference":[128],"input":[129],"controller.":[132],"Considering":[133],"closed":[135],"chain":[137],"stiff":[143],"architecture,":[145],"this":[146],"can":[148],"be":[149],"choice":[152],"ground":[158],"aerial":[160],"vehicles.":[161]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":10}],"updated_date":"2026-08-28T12:50:07.497085","created_date":"2025-10-10T00:00:00"}
