{"id":"https://openalex.org/W2062609562","doi":"https://doi.org/10.1017/s0263574709005451","title":"Simultaneous velocity, impact and force control","display_name":"Simultaneous velocity, impact and force control","publication_year":2009,"publication_date":"2009-03-10","ids":{"openalex":"https://openalex.org/W2062609562","doi":"https://doi.org/10.1017/s0263574709005451","mag":"2062609562"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574709005451","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574709005451","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/69FFA7F18ABA44061207E1107E1ED4D1/S0263574709005451a.pdf/div-class-title-simultaneous-velocity-impact-and-force-control-div.pdf","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":true,"oa_status":"bronze","oa_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/69FFA7F18ABA44061207E1107E1ED4D1/S0263574709005451a.pdf/div-class-title-simultaneous-velocity-impact-and-force-control-div.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5070764151","display_name":"Ranko Zotovic Stanisic","orcid":"https://orcid.org/0000-0002-4746-2101"},"institutions":[{"id":"https://openalex.org/I60053951","display_name":"Universitat Polit\u00e8cnica de Val\u00e8ncia","ror":"https://ror.org/01460j859","country_code":"ES","type":"education","lineage":["https://openalex.org/I60053951"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Ranko Zotovic Stanisic","raw_affiliation_strings":["Universidad Polit\u00e9cnica de Valencia, Camino de Vera s/n, 46022 Valencia, Spain","Universidad Politecnica de Valencia, Camino de Vera s/n, 46022 Valencia (Spain)"],"affiliations":[{"raw_affiliation_string":"Universidad Polit\u00e9cnica de Valencia, Camino de Vera s/n, 46022 Valencia, Spain","institution_ids":["https://openalex.org/I60053951"]},{"raw_affiliation_string":"Universidad Politecnica de Valencia, Camino de Vera s/n, 46022 Valencia (Spain)","institution_ids":["https://openalex.org/I60053951"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088121082","display_name":"A. Valera","orcid":"https://orcid.org/0000-0001-6843-6394"},"institutions":[{"id":"https://openalex.org/I60053951","display_name":"Universitat Polit\u00e8cnica de Val\u00e8ncia","ror":"https://ror.org/01460j859","country_code":"ES","type":"education","lineage":["https://openalex.org/I60053951"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"\u00c1ngel Valera Fern\u00e1ndez","raw_affiliation_strings":["Universidad Polit\u00e9cnica de Valencia, Camino de Vera s/n, 46022 Valencia, Spain","Universidad Politecnica de Valencia, Camino de Vera s/n, 46022 Valencia (Spain)"],"affiliations":[{"raw_affiliation_string":"Universidad Polit\u00e9cnica de Valencia, Camino de Vera s/n, 46022 Valencia, Spain","institution_ids":["https://openalex.org/I60053951"]},{"raw_affiliation_string":"Universidad Politecnica de Valencia, Camino de Vera s/n, 46022 Valencia (Spain)","institution_ids":["https://openalex.org/I60053951"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5070764151"],"corresponding_institution_ids":["https://openalex.org/I60053951"],"apc_list":null,"apc_paid":null,"fwci":2.3121,"has_fulltext":true,"cited_by_count":11,"citation_normalized_percentile":{"value":0.89392963,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"27","issue":"7","first_page":"1039","last_page":"1048"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9997000098228455,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9979000091552734,"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/control-theory","display_name":"Control theory (sociology)","score":0.6860643029212952},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.604671835899353},{"id":"https://openalex.org/keywords/impact","display_name":"Impact","score":0.5415762662887573},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.5153883695602417},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4869481325149536},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4369047284126282},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4347347617149353},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2766306400299072},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.2034476101398468}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6860643029212952},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.604671835899353},{"id":"https://openalex.org/C199310239","wikidata":"https://www.wikidata.org/wiki/Q4115667","display_name":"Impact","level":2,"score":0.5415762662887573},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.5153883695602417},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4869481325149536},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4369047284126282},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4347347617149353},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2766306400299072},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.2034476101398468},{"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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1017/s0263574709005451","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574709005451","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/69FFA7F18ABA44061207E1107E1ED4D1/S0263574709005451a.pdf/div-class-title-simultaneous-velocity-impact-and-force-control-div.pdf","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"},{"id":"pmh:oai:riunet.upv.es:10251/166751","is_oa":true,"landing_page_url":"http://hdl.handle.net/10251/166751","pdf_url":null,"source":{"id":"https://openalex.org/S4306400639","display_name":"RiuNet (Universitat Polit\u00e8cnica de Val\u00e8ncia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I60053951","host_organization_name":"Universitat Polit\u00e8cnica de Val\u00e8ncia","host_organization_lineage":["https://openalex.org/I60053951"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"doi:10.1017/s0263574709005451","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574709005451","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/69FFA7F18ABA44061207E1107E1ED4D1/S0263574709005451a.pdf/div-class-title-simultaneous-velocity-impact-and-force-control-div.pdf","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"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.7400000095367432}],"awards":[{"id":"https://openalex.org/G5544519660","display_name":null,"funder_award_id":"FEDER","funder_id":"https://openalex.org/F4320321864","funder_display_name":"Generalitat Valenciana"}],"funders":[{"id":"https://openalex.org/F4320321864","display_name":"Generalitat Valenciana","ror":"https://ror.org/0097mvx21"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2062609562.pdf","grobid_xml":"https://content.openalex.org/works/W2062609562.grobid-xml"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W1974402935","https://openalex.org/W1993906720","https://openalex.org/W1996283600","https://openalex.org/W1997650413","https://openalex.org/W2062521245","https://openalex.org/W2072689087","https://openalex.org/W2102496525","https://openalex.org/W2106993216","https://openalex.org/W2111615339","https://openalex.org/W2116789770","https://openalex.org/W2122915307","https://openalex.org/W2133193265","https://openalex.org/W2144908914","https://openalex.org/W2149187245","https://openalex.org/W2156344546","https://openalex.org/W2166211466","https://openalex.org/W2170812070","https://openalex.org/W2185585208","https://openalex.org/W2329867553","https://openalex.org/W2479430657","https://openalex.org/W2492994721","https://openalex.org/W2621510696","https://openalex.org/W4238307931","https://openalex.org/W6686844205"],"related_works":["https://openalex.org/W2084086966","https://openalex.org/W2023861399","https://openalex.org/W2366849791","https://openalex.org/W2738245003","https://openalex.org/W2626306547","https://openalex.org/W2730915376","https://openalex.org/W2021396365","https://openalex.org/W2394134009","https://openalex.org/W4377980699","https://openalex.org/W2119515433"],"abstract_inverted_index":{"SUMMARY":[0],"In":[1],"this":[2],"paper,":[3],"we":[4],"propose":[5],"a":[6],"control":[7],"method":[8],"to":[9,34],"achieve":[10],"three":[11],"objectives":[12],"simultaneously:":[13],"velocity":[14],"regulation":[15],"during":[16],"free":[17],"motion,":[18],"impact":[19],"damping":[20],"and":[21,45,59],"finally":[22],"force":[23],"reference":[24],"tracking.":[25],"During":[26],"impact,":[27],"the":[28,36,39,46,60],"parameters":[29],"are":[30,50,63],"switched":[31],"in":[32,65],"order":[33],"dissipate":[35],"energy":[37],"of":[38,54],"system":[40],"as":[41,43],"fast":[42],"possible":[44],"optimal":[47],"switching":[48],"criteria":[49],"deduced.":[51],"The":[52],"possibility":[53],"sliding":[55],"regimes":[56],"is":[57],"analysed":[58],"theoretical":[61],"results":[62],"verified":[64],"simulations.":[66]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-04-04T08:04:53.788161","created_date":"2016-06-24T00:00:00"}
