{"id":"https://openalex.org/W2027972490","doi":"https://doi.org/10.1017/s0263574700000060","title":"Cascade control of hydraulically actuated manipulators","display_name":"Cascade control of hydraulically actuated manipulators","publication_year":1990,"publication_date":"1990-07-01","ids":{"openalex":"https://openalex.org/W2027972490","doi":"https://doi.org/10.1017/s0263574700000060","mag":"2027972490"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574700000060","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574700000060","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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/A5057037777","display_name":"Nariman Sepehri","orcid":"https://orcid.org/0000-0002-6384-8776"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"N. Sepehri","raw_affiliation_strings":["Department of Mechanical Engineering, The University of British Columbia, Vancouver, B. C. (Canada","Department of Mechanical Engineering, The University of British Columbia, Vancouver B. C., Canada"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of British Columbia, Vancouver, B. C. (Canada","institution_ids":["https://openalex.org/I141945490"]},{"raw_affiliation_string":"Department of Mechanical Engineering, The University of British Columbia, Vancouver B. C., Canada","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055045540","display_name":"Guy A. Dumont","orcid":"https://orcid.org/0000-0003-2048-4391"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"G.A.M. Dumont","raw_affiliation_strings":["Department of Electrical Engineering, The University of British Columbia, Vancouver, B. C. (Canada","Department of Electrical Engineering The University of British Columbia Vancouver, B. C., Canada"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, The University of British Columbia, Vancouver, B. C. (Canada","institution_ids":["https://openalex.org/I141945490"]},{"raw_affiliation_string":"Department of Electrical Engineering The University of British Columbia Vancouver, B. C., Canada","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111356409","display_name":"P.D. Lawrence","orcid":null},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"P.D. Lawrence","raw_affiliation_strings":["Department of Electrical Engineering, The University of British Columbia, Vancouver, B. C. (Canada","Department of Electrical Engineering The University of British Columbia Vancouver, B. C., Canada"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, The University of British Columbia, Vancouver, B. C. (Canada","institution_ids":["https://openalex.org/I141945490"]},{"raw_affiliation_string":"Department of Electrical Engineering The University of British Columbia Vancouver, B. C., Canada","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064660803","display_name":"Farrokh Sassani","orcid":"https://orcid.org/0000-0001-8913-5224"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"F. Sassani","raw_affiliation_strings":["Department of Mechanical Engineering, The University of British Columbia, Vancouver, B. C. (Canada","Department of Mechanical Engineering, The University of British Columbia, Vancouver B. C., Canada"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of British Columbia, Vancouver, B. C. (Canada","institution_ids":["https://openalex.org/I141945490"]},{"raw_affiliation_string":"Department of Mechanical Engineering, The University of British Columbia, Vancouver B. C., Canada","institution_ids":["https://openalex.org/I141945490"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5057037777"],"corresponding_institution_ids":["https://openalex.org/I141945490"],"apc_list":null,"apc_paid":null,"fwci":0.9916,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.76351127,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"8","issue":"3","first_page":"207","last_page":"216"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9998000264167786,"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/T12810","display_name":"Real-time simulation and control systems","score":0.9872999787330627,"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/T13644","display_name":"Control Systems in Engineering","score":0.9821000099182129,"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/cascade","display_name":"Cascade","score":0.7635074853897095},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6247085928916931},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5670403242111206},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5638522505760193},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.5282021164894104},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4804117977619171},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.46105730533599854},{"id":"https://openalex.org/keywords/hydraulic-machinery","display_name":"Hydraulic machinery","score":0.43473827838897705},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.4142579436302185},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3824056088924408},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.203054279088974},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11285915970802307},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10218918323516846}],"concepts":[{"id":"https://openalex.org/C34146451","wikidata":"https://www.wikidata.org/wiki/Q5048094","display_name":"Cascade","level":2,"score":0.7635074853897095},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6247085928916931},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5670403242111206},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5638522505760193},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.5282021164894104},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4804117977619171},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.46105730533599854},{"id":"https://openalex.org/C11394606","wikidata":"https://www.wikidata.org/wiki/Q1972552","display_name":"Hydraulic machinery","level":2,"score":0.43473827838897705},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.4142579436302185},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3824056088924408},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.203054279088974},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11285915970802307},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10218918323516846},{"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/C42360764","wikidata":"https://www.wikidata.org/wiki/Q83588","display_name":"Chemical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574700000060","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574700000060","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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":4,"referenced_works":["https://openalex.org/W1582353822","https://openalex.org/W1985514867","https://openalex.org/W2082718538","https://openalex.org/W3022377941"],"related_works":["https://openalex.org/W2153719181","https://openalex.org/W1971748923","https://openalex.org/W2060986072","https://openalex.org/W1566155057","https://openalex.org/W2052574922","https://openalex.org/W2065045110","https://openalex.org/W64588465","https://openalex.org/W3120641340","https://openalex.org/W2117825986","https://openalex.org/W3134067061"],"abstract_inverted_index":{"SUMMARY":[0],"A":[1,94],"fundamental":[2],"study":[3],"on":[4,103],"the":[5,26,32,35,40,77],"control":[6,49],"of":[7,28,34],"hydraulically":[8],"actuated":[9],"robots":[10],"is":[11,15,23,39,89],"presented.":[12],"Dynamic":[13],"modelling":[14],"performed":[16],"in":[17,44,70,91],"both":[18],"time-domain":[19],"and":[20,57],"frequency-domain.":[21],"It":[22],"shown":[24],"that":[25],"inclusion":[27],"hydraulic":[29,68,79],"elements":[30],"increases":[31],"order":[33],"system.":[36],"Hydraulic":[37],"compliance":[38],"most":[41],"effective":[42],"factor":[43],"this":[45],"regard.":[46],"Three":[47],"distinct":[48],"strategies":[50],"are":[51,55,62],"applied.":[52],"Their":[53],"performances":[54],"evaluated":[56],"compared.":[58],"All":[59],"three":[60],"methods":[61],"exemplified":[63],"with":[64],"a":[65,71,104],"two":[66],"link":[67],"robot":[69,75],"computer":[72],"simulation.":[73],"The":[74,86],"has":[76],"same":[78],"configuration":[80],"as":[81],"many":[82],"existing":[83],"industrial":[84],"manipulators.":[85],"simulation":[87],"program":[88],"written":[90],"ACSL":[92],"(":[93],"dvanced":[95],"C":[96],"ontinuous":[97],"S":[98],"imulation":[99],"L":[100],"anguage)":[101],"running":[102],"VAX":[105],"11/750.":[106]},"counts_by_year":[{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
