{"id":"https://openalex.org/W2065270223","doi":"https://doi.org/10.1016/0921-8890(94)90059-0","title":"Variable structure systems for control of redundant robot","display_name":"Variable structure systems for control of redundant robot","publication_year":1994,"publication_date":"1994-06-01","ids":{"openalex":"https://openalex.org/W2065270223","doi":"https://doi.org/10.1016/0921-8890(94)90059-0","mag":"2065270223"},"language":"en","primary_location":{"id":"doi:10.1016/0921-8890(94)90059-0","is_oa":true,"landing_page_url":"https://doi.org/10.1016/0921-8890(94)90059-0","pdf_url":null,"source":{"id":"https://openalex.org/S133768115","display_name":"Robotics and Autonomous Systems","issn_l":"0921-8890","issn":["0921-8890","1872-793X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics and Autonomous Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1016/0921-8890(94)90059-0","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031790874","display_name":"Veljko Potkonjak","orcid":"https://orcid.org/0000-0003-4490-4717"},"institutions":[{"id":"https://openalex.org/I4068193","display_name":"University of Belgrade","ror":"https://ror.org/02qsmb048","country_code":"RS","type":"education","lineage":["https://openalex.org/I4068193"]}],"countries":["RS"],"is_corresponding":false,"raw_author_name":"Veljko Potkonjak","raw_affiliation_strings":["Faculty of Electrotechnic Engineering, University of Belgrade, Bulevar revolucije 73, 11001 Belgrade, Yugoslavia"],"affiliations":[{"raw_affiliation_string":"Faculty of Electrotechnic Engineering, University of Belgrade, Bulevar revolucije 73, 11001 Belgrade, Yugoslavia","institution_ids":["https://openalex.org/I4068193"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039031323","display_name":"Goran S. Djordjevi\u0107","orcid":"https://orcid.org/0000-0002-9320-6475"},"institutions":[{"id":"https://openalex.org/I152518017","display_name":"University of Nis","ror":"https://ror.org/00965bg92","country_code":"RS","type":"education","lineage":["https://openalex.org/I152518017"]}],"countries":["RS"],"is_corresponding":false,"raw_author_name":"Goran Djordjevi\u0107","raw_affiliation_strings":["Faculty of Electronic Engineering, University of Ni\u0161, Ni\u0161, Yugoslavia","[Faculty of Electronic Engineering, University of Nis, Nis, Yugoslavia]"],"affiliations":[{"raw_affiliation_string":"Faculty of Electronic Engineering, University of Ni\u0161, Ni\u0161, Yugoslavia","institution_ids":["https://openalex.org/I152518017"]},{"raw_affiliation_string":"[Faculty of Electronic Engineering, University of Nis, Nis, Yugoslavia]","institution_ids":["https://openalex.org/I152518017"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025153393","display_name":"\u010cedomir Milosavljevi\u0107","orcid":"https://orcid.org/0000-0002-1831-5559"},"institutions":[{"id":"https://openalex.org/I152518017","display_name":"University of Nis","ror":"https://ror.org/00965bg92","country_code":"RS","type":"education","lineage":["https://openalex.org/I152518017"]}],"countries":["RS"],"is_corresponding":false,"raw_author_name":"\u010cedomir Milosavljevi\u0107","raw_affiliation_strings":["Faculty of Electronic Engineering, University of Ni\u0161, Ni\u0161, Yugoslavia","[Faculty of Electronic Engineering, University of Nis, Nis, Yugoslavia]"],"affiliations":[{"raw_affiliation_string":"Faculty of Electronic Engineering, University of Ni\u0161, Ni\u0161, Yugoslavia","institution_ids":["https://openalex.org/I152518017"]},{"raw_affiliation_string":"[Faculty of Electronic Engineering, University of Nis, Nis, Yugoslavia]","institution_ids":["https://openalex.org/I152518017"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060047045","display_name":"Dragan Anti\u0107","orcid":"https://orcid.org/0000-0002-5880-5173"},"institutions":[{"id":"https://openalex.org/I152518017","display_name":"University of Nis","ror":"https://ror.org/00965bg92","country_code":"RS","type":"education","lineage":["https://openalex.org/I152518017"]}],"countries":["RS"],"is_corresponding":false,"raw_author_name":"Dragan Anti\u0107","raw_affiliation_strings":["Faculty of Electronic Engineering, University of Ni\u0161, Ni\u0161, Yugoslavia","[Faculty of Electronic Engineering, University of Nis, Nis, Yugoslavia]"],"affiliations":[{"raw_affiliation_string":"Faculty of Electronic Engineering, University of Ni\u0161, Ni\u0161, Yugoslavia","institution_ids":["https://openalex.org/I152518017"]},{"raw_affiliation_string":"[Faculty of Electronic Engineering, University of Nis, Nis, Yugoslavia]","institution_ids":["https://openalex.org/I152518017"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066245106","display_name":"Dejan B. Popovi\u0107","orcid":"https://orcid.org/0000-0002-0882-7227"},"institutions":[{"id":"https://openalex.org/I145608581","display_name":"University of Miami","ror":"https://ror.org/02dgjyy92","country_code":"US","type":"education","lineage":["https://openalex.org/I145608581"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Dejan Popovi\u0107","raw_affiliation_strings":["The Miami Project to Cure Paralysis, University of Miami, School of Medicine, 1600 N.W. 10th Avenue, R-48, Miami, FL 33136, USA","The Miami Project To Cure Paralysis, University of Miami School of Medicine, 1600 N.W. 10th Avenue (R-48), Miami, FL 33136, USA"],"affiliations":[{"raw_affiliation_string":"The Miami Project to Cure Paralysis, University of Miami, School of Medicine, 1600 N.W. 10th Avenue, R-48, Miami, FL 33136, USA","institution_ids":["https://openalex.org/I145608581"]},{"raw_affiliation_string":"The Miami Project To Cure Paralysis, University of Miami School of Medicine, 1600 N.W. 10th Avenue (R-48), Miami, FL 33136, USA","institution_ids":["https://openalex.org/I145608581"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5066245106"],"corresponding_institution_ids":["https://openalex.org/I145608581"],"apc_list":{"value":3020,"currency":"USD","value_usd":3020},"apc_paid":{"value":3020,"currency":"USD","value_usd":3020},"fwci":0.8376,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.7454699,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"13","issue":"1","first_page":"13","last_page":"24"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","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/T10571","display_name":"Robotic Mechanisms and Dynamics","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/T10653","display_name":"Robot Manipulation and Learning","score":0.9973000288009644,"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/T13827","display_name":"Mechatronics Education and Applications","score":0.9955999851226807,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.8543703556060791},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.7998478412628174},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7900608777999878},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7001605033874512},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.617973804473877},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5920199155807495},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5614029169082642},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4652923345565796},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.45021727681159973},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4188278317451477},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4063824415206909},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3899155855178833},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2618548274040222},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09283006191253662},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.06738939881324768}],"concepts":[{"id":"https://openalex.org/C158732272","wikidata":"https://www.wikidata.org/wiki/Q1484792","display_name":"SCARA","level":3,"score":0.8543703556060791},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.7998478412628174},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7900608777999878},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7001605033874512},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.617973804473877},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5920199155807495},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5614029169082642},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4652923345565796},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.45021727681159973},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4188278317451477},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4063824415206909},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3899155855178833},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2618548274040222},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09283006191253662},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.06738939881324768},{"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1016/0921-8890(94)90059-0","is_oa":true,"landing_page_url":"https://doi.org/10.1016/0921-8890(94)90059-0","pdf_url":null,"source":{"id":"https://openalex.org/S133768115","display_name":"Robotics and Autonomous Systems","issn_l":"0921-8890","issn":["0921-8890","1872-793X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics and Autonomous Systems","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1016/0921-8890(94)90059-0","is_oa":true,"landing_page_url":"https://doi.org/10.1016/0921-8890(94)90059-0","pdf_url":null,"source":{"id":"https://openalex.org/S133768115","display_name":"Robotics and Autonomous Systems","issn_l":"0921-8890","issn":["0921-8890","1872-793X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics and Autonomous Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W168786860","https://openalex.org/W1505779585","https://openalex.org/W2002948711","https://openalex.org/W2036357520","https://openalex.org/W2060927676","https://openalex.org/W2064263864","https://openalex.org/W2089904302","https://openalex.org/W2091906408","https://openalex.org/W2092163612","https://openalex.org/W2129081745","https://openalex.org/W2156906601","https://openalex.org/W4210881966","https://openalex.org/W6665697566"],"related_works":["https://openalex.org/W2219869035","https://openalex.org/W2884804215","https://openalex.org/W2084494155","https://openalex.org/W2119963650","https://openalex.org/W2972304526","https://openalex.org/W141544573","https://openalex.org/W2074433305","https://openalex.org/W2367567586","https://openalex.org/W2380210784","https://openalex.org/W2770397302"],"abstract_inverted_index":{"A":[0,73],"combination":[1,63],"of":[2,5,8,29,52,64,76,91],"one":[3,109],"class":[4],"kinematic":[6,34],"control":[7,40,55,68],"redundant":[9],"robot":[10,105],"and":[11],"Variable":[12],"Structure":[13],"Systems":[14],"(VSS)":[15],"in":[16],"manipulating":[17],"tasks":[18],"that":[19],"require":[20],"large":[21],"accelerations":[22],"or":[23],"decelerations":[24],"is":[25],"the":[26,50,53,81],"main":[27],"issue":[28],"this":[30],"paper.":[31],"The":[32],"inverse":[33],"problem":[35],"will,":[36],"on":[37,101],"a":[38,62,102],"tactical":[39],"level,":[41],"be":[42,58,88,99],"solved":[43,59],"through":[44],"Distributed":[45],"Positioning":[46],"(DP)":[47],"concept,":[48],"while":[49],"solution":[51],"executive":[54],"level":[56],"will":[57,87,98],"by":[60],"using":[61],"two":[65],"common":[66],"VS":[67,77,92],"algorithms":[69],"with":[70,84,93,106],"PI":[71],"controller.":[72],"complete":[74],"synthesis":[75],"local":[78],"regulators":[79],"for":[80],"redundancy,":[82],"along":[83],"stability":[85],"analysis,":[86],"given.":[89],"Comparison":[90],"PD":[94],"controller":[95],"tracking":[96],"characteristics":[97],"studied":[100],"suitable":[103],"SCARA":[104],"redundancy":[107],"performing":[108],"typical":[110],"pick-and-place":[111],"movement.":[112]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
