{"id":"https://openalex.org/W2164690868","doi":"https://doi.org/10.1017/s0263574714000344","title":"Fuzzy weighted subtask controller for redundant manipulator","display_name":"Fuzzy weighted subtask controller for redundant manipulator","publication_year":2014,"publication_date":"2014-02-28","ids":{"openalex":"https://openalex.org/W2164690868","doi":"https://doi.org/10.1017/s0263574714000344","mag":"2164690868"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574714000344","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574714000344","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/A5034861154","display_name":"Youngjun Yoo","orcid":"https://orcid.org/0000-0003-4898-7513"},"institutions":[{"id":"https://openalex.org/I123900574","display_name":"Pohang University of Science and Technology","ror":"https://ror.org/04xysgw12","country_code":"KR","type":"education","lineage":["https://openalex.org/I123900574"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Young jun Yoo","raw_affiliation_strings":["Department of Electronic and Electrical Engineering, POSTECH, Pohang, Gyeongbuk, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic and Electrical Engineering, POSTECH, Pohang, Gyeongbuk, Republic of Korea","institution_ids":["https://openalex.org/I123900574"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100801073","display_name":"Dae Sung Jung","orcid":null},"institutions":[{"id":"https://openalex.org/I123900574","display_name":"Pohang University of Science and Technology","ror":"https://ror.org/04xysgw12","country_code":"KR","type":"education","lineage":["https://openalex.org/I123900574"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Dae sung Jung","raw_affiliation_strings":["Department of Electronic and Electrical Engineering, POSTECH, Pohang, Gyeongbuk, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic and Electrical Engineering, POSTECH, Pohang, Gyeongbuk, Republic of Korea","institution_ids":["https://openalex.org/I123900574"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032743788","display_name":"Yujin Jang","orcid":"https://orcid.org/0000-0002-8643-2722"},"institutions":[{"id":"https://openalex.org/I205490536","display_name":"Dongguk University","ror":"https://ror.org/057q6n778","country_code":"KR","type":"education","lineage":["https://openalex.org/I205490536"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yu jin Jang","raw_affiliation_strings":["Department of Information and Communication Engineering, Dongguk University, Gyeong Ju, Gyeongsangbuk-Do, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information and Communication Engineering, Dongguk University, Gyeong Ju, Gyeongsangbuk-Do, Republic of Korea","institution_ids":["https://openalex.org/I205490536"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113588842","display_name":"Sang Chul Won","orcid":null},"institutions":[{"id":"https://openalex.org/I123900574","display_name":"Pohang University of Science and Technology","ror":"https://ror.org/04xysgw12","country_code":"KR","type":"education","lineage":["https://openalex.org/I123900574"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Sang chul Won","raw_affiliation_strings":["Department of Electronic and Electrical Engineering, POSTECH, Pohang, Gyeongbuk, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic and Electrical Engineering, POSTECH, Pohang, Gyeongbuk, Republic of Korea","institution_ids":["https://openalex.org/I123900574"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5113588842"],"corresponding_institution_ids":["https://openalex.org/I123900574"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.19346186,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"33","issue":"2","first_page":"295","last_page":"313"},"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9951000213623047,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9944999814033508,"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":0.7228639721870422},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.6644896864891052},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6559862494468689},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5997228026390076},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5942238569259644},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5363776683807373},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5302897095680237},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.5188339948654175},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.4841485619544983},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.482063353061676},{"id":"https://openalex.org/keywords/null","display_name":"Null (SQL)","score":0.45280858874320984},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.44684451818466187},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.41366082429885864},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4089718461036682},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3712884783744812},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.32666802406311035},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20200669765472412},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19896957278251648},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.07157349586486816}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7228639721870422},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.6644896864891052},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6559862494468689},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5997228026390076},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5942238569259644},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5363776683807373},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5302897095680237},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.5188339948654175},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.4841485619544983},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.482063353061676},{"id":"https://openalex.org/C203763787","wikidata":"https://www.wikidata.org/wiki/Q371029","display_name":"Null (SQL)","level":2,"score":0.45280858874320984},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.44684451818466187},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.41366082429885864},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4089718461036682},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3712884783744812},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.32666802406311035},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20200669765472412},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19896957278251648},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.07157349586486816},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1017/s0263574714000344","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574714000344","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"},{"id":"pmh:oai:oasis.postech.ac.kr:2014.oak/27216","is_oa":false,"landing_page_url":"https://oasis.postech.ac.kr/handle/2014.oak/27216","pdf_url":null,"source":{"id":"https://openalex.org/S4306401965","display_name":"Open Access System for Information Sharing (Pohang University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I123900574","host_organization_name":"Pohang University of Science and Technology","host_organization_lineage":["https://openalex.org/I123900574"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.7200000286102295,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1604889463","https://openalex.org/W1982442957","https://openalex.org/W1993834974","https://openalex.org/W2019542064","https://openalex.org/W2032381729","https://openalex.org/W2037737568","https://openalex.org/W2039367169","https://openalex.org/W2042803738","https://openalex.org/W2042913147","https://openalex.org/W2049617391","https://openalex.org/W2057134777","https://openalex.org/W2066569405","https://openalex.org/W2078309923","https://openalex.org/W2086907168","https://openalex.org/W2113260111","https://openalex.org/W2114872772","https://openalex.org/W2115278068","https://openalex.org/W2119403459","https://openalex.org/W2135308719","https://openalex.org/W2137287958","https://openalex.org/W2152620617","https://openalex.org/W2158021637","https://openalex.org/W2159857204","https://openalex.org/W2480168523","https://openalex.org/W2623660146","https://openalex.org/W2993433457","https://openalex.org/W3088063282","https://openalex.org/W4235562176","https://openalex.org/W4376551357","https://openalex.org/W6662946448","https://openalex.org/W6676949995","https://openalex.org/W6680474439"],"related_works":["https://openalex.org/W2007405763","https://openalex.org/W3136087161","https://openalex.org/W1486373823","https://openalex.org/W2119578520","https://openalex.org/W2053762185","https://openalex.org/W1984283682","https://openalex.org/W1965257389","https://openalex.org/W2115240519","https://openalex.org/W2080642692","https://openalex.org/W2039927751"],"abstract_inverted_index":{"SUMMARY":[0],"We":[1,75],"propose":[2,76],"a":[3,9,24,60,66,77,87,92],"fuzzy":[4,44],"weighted":[5,25,78],"subtask":[6,72,79],"controller":[7,63,80,104],"for":[8,81],"redundant":[10],"robot":[11,97],"manipulator.":[12],"To":[13],"expand":[14],"the":[15,18,29,32,39,50,56,99,102],"feasibility":[16],"of":[17,31,36,86,101],"inverse":[19],"kinematic":[20],"solution,":[21],"we":[22,58],"introduce":[23],"pseudo-inverse":[26,40],"that":[27,46],"changes":[28],"null-space":[30,51],"Jacobian.":[33],"The":[34,84],"weights":[35],"elements":[37],"in":[38],"are":[41,47],"obtained":[42],"using":[43,91],"rules":[45],"related":[48],"to":[49,64],"velocity":[52],"tracking":[53],"error.":[54],"With":[55],"pseudo-inverse,":[57],"develop":[59],"task":[61,68],"space":[62,69],"track":[65],"desired":[67],"trajectory":[70],"and":[71,89],"control":[73],"input.":[74],"multiple":[82,106],"subtasks.":[83,107],"results":[85],"simulation":[88],"experiment":[90],"seven-degree-of-freedom":[93],"whole":[94],"arm":[95],"manipulator":[96],"show":[98],"effectiveness":[100],"proposed":[103],"with":[105]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-05-21T09:19:25.381259","created_date":"2025-10-10T00:00:00"}
