{"id":"https://openalex.org/W4225401156","doi":"https://doi.org/10.1007/s40747-022-00740-7","title":"Design and implementation of fault-tolerant control strategies for a real underactuated manipulator robot","display_name":"Design and implementation of fault-tolerant control strategies for a real underactuated manipulator robot","publication_year":2022,"publication_date":"2022-05-04","ids":{"openalex":"https://openalex.org/W4225401156","doi":"https://doi.org/10.1007/s40747-022-00740-7"},"language":"en","primary_location":{"id":"doi:10.1007/s40747-022-00740-7","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-022-00740-7","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-022-00740-7.pdf","source":{"id":"https://openalex.org/S3035462843","display_name":"Complex & Intelligent Systems","issn_l":"2198-6053","issn":["2198-6053","2199-4536"],"is_oa":true,"is_in_doaj":true,"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":"Complex &amp; Intelligent Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://link.springer.com/content/pdf/10.1007/s40747-022-00740-7.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5033485764","display_name":"Claudio Urrea","orcid":"https://orcid.org/0000-0001-7197-8928"},"institutions":[{"id":"https://openalex.org/I10457146","display_name":"Universidad de Santiago de Chile","ror":"https://ror.org/02ma57s91","country_code":"CL","type":"education","lineage":["https://openalex.org/I10457146"]},{"id":"https://openalex.org/I4210086410","display_name":"Universidad Bernardo O'Higgins","ror":"https://ror.org/00x0xhn70","country_code":"CL","type":"education","lineage":["https://openalex.org/I4210086410"]}],"countries":["CL"],"is_corresponding":true,"raw_author_name":"Claudio Urrea","raw_affiliation_strings":["Electrical Engineering\nDepartment, Faculty of Engineering, University of Santiago of Chile (USACH), Avenida Libertador\nBernardo O\u2019Higgins N\u00ba3363, Estaci\u00f3n Central, Santiago, Chile","Electrical Engineering\nDepartment, Faculty of Engineering, University of Santiago of Chile (USACH), Avenida Libertador\nBernardo O'Higgins N\u00ba3363, Estaci\u00f3n Central, Santiago, Chile"],"raw_orcid":"https://orcid.org/0000-0001-7197-8928","affiliations":[{"raw_affiliation_string":"Electrical Engineering\nDepartment, Faculty of Engineering, University of Santiago of Chile (USACH), Avenida Libertador\nBernardo O\u2019Higgins N\u00ba3363, Estaci\u00f3n Central, Santiago, Chile","institution_ids":["https://openalex.org/I4210086410","https://openalex.org/I10457146"]},{"raw_affiliation_string":"Electrical Engineering\nDepartment, Faculty of Engineering, University of Santiago of Chile (USACH), Avenida Libertador\nBernardo O'Higgins N\u00ba3363, Estaci\u00f3n Central, Santiago, Chile","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057942687","display_name":"John Kern","orcid":"https://orcid.org/0000-0003-1958-7289"},"institutions":[{"id":"https://openalex.org/I10457146","display_name":"Universidad de Santiago de Chile","ror":"https://ror.org/02ma57s91","country_code":"CL","type":"education","lineage":["https://openalex.org/I10457146"]},{"id":"https://openalex.org/I4210086410","display_name":"Universidad Bernardo O'Higgins","ror":"https://ror.org/00x0xhn70","country_code":"CL","type":"education","lineage":["https://openalex.org/I4210086410"]}],"countries":["CL"],"is_corresponding":false,"raw_author_name":"John Kern","raw_affiliation_strings":["Electrical Engineering\nDepartment, Faculty of Engineering, University of Santiago of Chile (USACH), Avenida Libertador\nBernardo O\u2019Higgins N\u00ba3363, Estaci\u00f3n Central, Santiago, Chile","Electrical Engineering\nDepartment, Faculty of Engineering, University of Santiago of Chile (USACH), Avenida Libertador\nBernardo O'Higgins N\u00ba3363, Estaci\u00f3n Central, Santiago, Chile"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical Engineering\nDepartment, Faculty of Engineering, University of Santiago of Chile (USACH), Avenida Libertador\nBernardo O\u2019Higgins N\u00ba3363, Estaci\u00f3n Central, Santiago, Chile","institution_ids":["https://openalex.org/I4210086410","https://openalex.org/I10457146"]},{"raw_affiliation_string":"Electrical Engineering\nDepartment, Faculty of Engineering, University of Santiago of Chile (USACH), Avenida Libertador\nBernardo O'Higgins N\u00ba3363, Estaci\u00f3n Central, Santiago, Chile","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003606342","display_name":"Exequiel \u00c1lvarez","orcid":null},"institutions":[{"id":"https://openalex.org/I10457146","display_name":"Universidad de Santiago de Chile","ror":"https://ror.org/02ma57s91","country_code":"CL","type":"education","lineage":["https://openalex.org/I10457146"]},{"id":"https://openalex.org/I4210086410","display_name":"Universidad Bernardo O'Higgins","ror":"https://ror.org/00x0xhn70","country_code":"CL","type":"education","lineage":["https://openalex.org/I4210086410"]}],"countries":["CL"],"is_corresponding":false,"raw_author_name":"Exequiel \u00c1lvarez","raw_affiliation_strings":["Electrical Engineering\nDepartment, Faculty of Engineering, University of Santiago of Chile (USACH), Avenida Libertador\nBernardo O\u2019Higgins N\u00ba3363, Estaci\u00f3n Central, Santiago, Chile","Electrical Engineering\nDepartment, Faculty of Engineering, University of Santiago of Chile (USACH), Avenida Libertador\nBernardo O'Higgins N\u00ba3363, Estaci\u00f3n Central, Santiago, Chile"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical Engineering\nDepartment, Faculty of Engineering, University of Santiago of Chile (USACH), Avenida Libertador\nBernardo O\u2019Higgins N\u00ba3363, Estaci\u00f3n Central, Santiago, Chile","institution_ids":["https://openalex.org/I4210086410","https://openalex.org/I10457146"]},{"raw_affiliation_string":"Electrical Engineering\nDepartment, Faculty of Engineering, University of Santiago of Chile (USACH), Avenida Libertador\nBernardo O'Higgins N\u00ba3363, Estaci\u00f3n Central, Santiago, Chile","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5033485764"],"corresponding_institution_ids":["https://openalex.org/I10457146","https://openalex.org/I4210086410"],"apc_list":{"value":1320,"currency":"GBP","value_usd":1619},"apc_paid":{"value":1320,"currency":"GBP","value_usd":1619},"fwci":2.3086,"has_fulltext":true,"cited_by_count":20,"citation_normalized_percentile":{"value":0.87786025,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"8","issue":"6","first_page":"5101","last_page":"5123"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9943000078201294,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9943000078201294,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9868999719619751,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.979200005531311,"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/scara","display_name":"SCARA","score":0.8191388249397278},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7216883897781372},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.6449170112609863},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5854529738426208},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5830689072608948},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.5131521821022034},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.47557035088539124},{"id":"https://openalex.org/keywords/harmonic-drive","display_name":"Harmonic drive","score":0.46160000562667847},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3574751019477844},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21176141500473022},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15117818117141724}],"concepts":[{"id":"https://openalex.org/C158732272","wikidata":"https://www.wikidata.org/wiki/Q1484792","display_name":"SCARA","level":3,"score":0.8191388249397278},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7216883897781372},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.6449170112609863},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5854529738426208},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5830689072608948},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.5131521821022034},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.47557035088539124},{"id":"https://openalex.org/C2777105549","wikidata":"https://www.wikidata.org/wiki/Q751500","display_name":"Harmonic drive","level":2,"score":0.46160000562667847},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3574751019477844},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21176141500473022},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15117818117141724},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s40747-022-00740-7","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-022-00740-7","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-022-00740-7.pdf","source":{"id":"https://openalex.org/S3035462843","display_name":"Complex & Intelligent Systems","issn_l":"2198-6053","issn":["2198-6053","2199-4536"],"is_oa":true,"is_in_doaj":true,"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":"Complex &amp; Intelligent Systems","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1007/s40747-022-00740-7","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-022-00740-7","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-022-00740-7.pdf","source":{"id":"https://openalex.org/S3035462843","display_name":"Complex & Intelligent Systems","issn_l":"2198-6053","issn":["2198-6053","2199-4536"],"is_oa":true,"is_in_doaj":true,"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":"Complex &amp; Intelligent Systems","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.7900000214576721,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4225401156.pdf","grobid_xml":"https://content.openalex.org/works/W4225401156.grobid-xml"},"referenced_works_count":37,"referenced_works":["https://openalex.org/W1530111185","https://openalex.org/W1547243051","https://openalex.org/W1969996458","https://openalex.org/W1977286257","https://openalex.org/W2002813317","https://openalex.org/W2002967483","https://openalex.org/W2013553076","https://openalex.org/W2046332100","https://openalex.org/W2067148590","https://openalex.org/W2086682393","https://openalex.org/W2086702027","https://openalex.org/W2111683789","https://openalex.org/W2138318367","https://openalex.org/W2143611759","https://openalex.org/W2291872041","https://openalex.org/W2323959044","https://openalex.org/W2518735096","https://openalex.org/W2808823341","https://openalex.org/W2888849543","https://openalex.org/W2891728624","https://openalex.org/W2893092338","https://openalex.org/W2896495375","https://openalex.org/W2961509949","https://openalex.org/W2962678727","https://openalex.org/W2964952756","https://openalex.org/W2998752289","https://openalex.org/W3004390149","https://openalex.org/W3023777874","https://openalex.org/W3036198028","https://openalex.org/W3089891704","https://openalex.org/W3099523296","https://openalex.org/W3117559649","https://openalex.org/W3124963342","https://openalex.org/W3156492906","https://openalex.org/W3160860059","https://openalex.org/W3167098024","https://openalex.org/W3199110146"],"related_works":["https://openalex.org/W152605265","https://openalex.org/W3095489175","https://openalex.org/W2573045761","https://openalex.org/W1486209696","https://openalex.org/W1968617831","https://openalex.org/W3169911176","https://openalex.org/W2171171097","https://openalex.org/W2125209409","https://openalex.org/W2765578195","https://openalex.org/W49611498"],"abstract_inverted_index":{"Abstract":[0],"This":[1],"paper":[2],"presents":[3],"the":[4,38,45,64,122,172,175,180],"design":[5],"and":[6,34,67,90,103,160,170,179],"implementation":[7],"of":[8,22,40,48,54,154,174],"four":[9,100,176],"control":[10,81,101,177],"strategies":[11,102,178],"applied":[12],"to":[13,36,58,71,167],"a":[14,41,110,134,146],"real":[15,95],"underactuated":[16,124],"manipulator":[17,50,125],"robot":[18,96,126],"with":[19,74],"3-DOF":[20,123],"(Degrees":[21],"Freedom).":[23],"Additionally,":[24],"an":[25],"original":[26],"methodology":[27,56,106],"for":[28],"controlled":[29,60],"oscillatory":[30,104],"compensations":[31],"is":[32,57,109,136],"designed":[33],"implemented":[35,80,108],"mitigate":[37],"effect":[39],"passive":[42,147],"joint":[43,70,140],"on":[44],"overall":[46],"performance":[47,150],"this":[49,55],"robot.":[51,117],"The":[52,79,94,149],"objective":[53],"create":[59],"oscillations":[61],"that":[62],"allow":[63],"faulty":[65],"link":[66],"its":[68,128,139],"(passive)":[69],"physically":[72],"align":[73],"their":[75],"adjacent":[76],"previous":[77],"link.":[78],"techniques":[82],"are":[83,107,165],"sinh\u2013cosh,":[84],"neural":[85],"compensation,":[86],"gain":[87,91],"scheduling":[88,92],"PID,":[89],"sinh\u2013cosh.":[93],"in":[97,138],"which":[98],"these":[99],"compensation":[105,181],"SCARA":[111],"(Selective":[112],"Compliant":[113],"Assembly":[114],"Robot":[115],"Arm)":[116],"To":[118],"assess":[119],"controller":[120],"performance\u2014once":[121],"starts":[127],"trajectory\u2014after":[129],"t":[130],"=":[131],"4.5":[132],"s,":[133],"fault":[135],"activated":[137],"No.":[141],"2,":[142],"converting":[143],"it":[144],"into":[145],"joint.":[148],"indicators":[151],"IA":[152],"(index":[153],"agreement),":[155],"RMS":[156],"(Root":[157],"Mean":[158],"Square),":[159],"RSD":[161],"(Residual":[162],"Standard":[163],"Deviation)":[164],"used":[166],"analyze,":[168],"compare,":[169],"evaluate":[171],"behavior":[173],"methodology.":[182]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
