{"id":"https://openalex.org/W1987100249","doi":"https://doi.org/10.1016/s0005-1098(03)00002-5","title":"Stability of hybrid position and force control for robotic manipulator with kinematics and dynamics uncertainties","display_name":"Stability of hybrid position and force control for robotic manipulator with kinematics and dynamics uncertainties","publication_year":2003,"publication_date":"2003-04-04","ids":{"openalex":"https://openalex.org/W1987100249","doi":"https://doi.org/10.1016/s0005-1098(03)00002-5","mag":"1987100249"},"language":"en","primary_location":{"id":"doi:10.1016/s0005-1098(03)00002-5","is_oa":false,"landing_page_url":"https://doi.org/10.1016/s0005-1098(03)00002-5","pdf_url":null,"source":{"id":"https://openalex.org/S51360982","display_name":"Automatica","issn_l":"0005-1098","issn":["0005-1098","1873-2836"],"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Automatica","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/A5080753188","display_name":"Chien Chern Cheah","orcid":"https://orcid.org/0000-0003-3728-9277"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"C.C. Cheah","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Block S1, Nanyang Avenue, Singapore 639798, Singapore","School of Electrical and Electronic Engineering, Nanyang Technological University Block S1, Nanyang Avenue, Singapore 639798, Singapore#TAB#"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Block S1, Nanyang Avenue, Singapore 639798, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University Block S1, Nanyang Avenue, Singapore 639798, Singapore#TAB#","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103017325","display_name":"S. Kawamura","orcid":"https://orcid.org/0000-0003-1126-4645"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"S. Kawamura","raw_affiliation_strings":["Department of Robotics, Ritsumeikan University, 1916, Nojicho, Kusatsu, Shiga 525, Japan","Department of Robotics, Ritsumeikan University, 1916, Nojicho, Kusatsu, Shiga 525, Japan#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, 1916, Nojicho, Kusatsu, Shiga 525, Japan","institution_ids":["https://openalex.org/I135768898"]},{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, 1916, Nojicho, Kusatsu, Shiga 525, Japan#TAB#","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110461849","display_name":"S. Arimoto","orcid":null},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"S. Arimoto","raw_affiliation_strings":["Department of Robotics, Ritsumeikan University, 1916, Nojicho, Kusatsu, Shiga 525, Japan","Department of Robotics, Ritsumeikan University, 1916, Nojicho, Kusatsu, Shiga 525, Japan#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, 1916, Nojicho, Kusatsu, Shiga 525, Japan","institution_ids":["https://openalex.org/I135768898"]},{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, 1916, Nojicho, Kusatsu, Shiga 525, Japan#TAB#","institution_ids":["https://openalex.org/I135768898"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5080753188"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":{"value":3500,"currency":"USD","value_usd":3500},"apc_paid":null,"fwci":13.9235,"has_fulltext":false,"cited_by_count":99,"citation_normalized_percentile":{"value":0.98810151,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"39","issue":"5","first_page":"847","last_page":"855"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","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/T10653","display_name":"Robot Manipulation and Learning","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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9979000091552734,"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"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9973999857902527,"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/setpoint","display_name":"Setpoint","score":0.7835839986801147},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7835049629211426},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7831618785858154},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6184597611427307},{"id":"https://openalex.org/keywords/kinematics-equations","display_name":"Kinematics equations","score":0.5009145736694336},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.489105761051178},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4803656041622162},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.47682446241378784},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4480455815792084},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.43361347913742065},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4292852282524109},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.40606454014778137},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3923807144165039},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3691345155239105},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3201479911804199},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16313907504081726},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15294402837753296},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.11425429582595825},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.08816197514533997}],"concepts":[{"id":"https://openalex.org/C12302492","wikidata":"https://www.wikidata.org/wiki/Q1752097","display_name":"Setpoint","level":2,"score":0.7835839986801147},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7835049629211426},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7831618785858154},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6184597611427307},{"id":"https://openalex.org/C204172952","wikidata":"https://www.wikidata.org/wiki/Q6410697","display_name":"Kinematics equations","level":5,"score":0.5009145736694336},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.489105761051178},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4803656041622162},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.47682446241378784},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4480455815792084},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.43361347913742065},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4292852282524109},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.40606454014778137},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3923807144165039},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3691345155239105},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3201479911804199},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16313907504081726},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15294402837753296},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.11425429582595825},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.08816197514533997},{"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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1016/s0005-1098(03)00002-5","is_oa":false,"landing_page_url":"https://doi.org/10.1016/s0005-1098(03)00002-5","pdf_url":null,"source":{"id":"https://openalex.org/S51360982","display_name":"Automatica","issn_l":"0005-1098","issn":["0005-1098","1873-2836"],"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Automatica","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":22,"referenced_works":["https://openalex.org/W59013988","https://openalex.org/W79829600","https://openalex.org/W1491865100","https://openalex.org/W1524592669","https://openalex.org/W1901148994","https://openalex.org/W1967377907","https://openalex.org/W1968047062","https://openalex.org/W1978023077","https://openalex.org/W2011105296","https://openalex.org/W2016958754","https://openalex.org/W2026769037","https://openalex.org/W2112474089","https://openalex.org/W2131170684","https://openalex.org/W2137960819","https://openalex.org/W2139267874","https://openalex.org/W2141884277","https://openalex.org/W2145378030","https://openalex.org/W2152737511","https://openalex.org/W2157065490","https://openalex.org/W2165092969","https://openalex.org/W2166042980","https://openalex.org/W6631678437"],"related_works":["https://openalex.org/W1969999327","https://openalex.org/W2744818472","https://openalex.org/W2351331567","https://openalex.org/W2355512144","https://openalex.org/W3047523153","https://openalex.org/W2811382984","https://openalex.org/W1945142432","https://openalex.org/W3135439126","https://openalex.org/W3016367173","https://openalex.org/W3179890939"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}