{"id":"https://openalex.org/W3128962023","doi":"https://doi.org/10.1017/s0263574720001411","title":"Effects of Dynamic Model Errors in Task-Priority Operational Space Control","display_name":"Effects of Dynamic Model Errors in Task-Priority Operational Space Control","publication_year":2021,"publication_date":"2021-02-01","ids":{"openalex":"https://openalex.org/W3128962023","doi":"https://doi.org/10.1017/s0263574720001411","mag":"3128962023"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574720001411","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574720001411","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/A5017596699","display_name":"Paolo Di Lillo","orcid":"https://orcid.org/0000-0003-2083-1883"},"institutions":[{"id":"https://openalex.org/I186995768","display_name":"Universit\u00e0 degli studi di Cassino e del Lazio Meridionale","ror":"https://ror.org/04nxkaq16","country_code":"IT","type":"education","lineage":["https://openalex.org/I186995768"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Paolo Di Lillo","raw_affiliation_strings":["Department of Electrical and Information Engineering, University of Cassino and Southern Lazio, Cassino, Italy. E-mail:"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Information Engineering, University of Cassino and Southern Lazio, Cassino, Italy. E-mail:","institution_ids":["https://openalex.org/I186995768"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030334035","display_name":"Gianluca Antonelli","orcid":"https://orcid.org/0000-0002-5511-0165"},"institutions":[{"id":"https://openalex.org/I186995768","display_name":"Universit\u00e0 degli studi di Cassino e del Lazio Meridionale","ror":"https://ror.org/04nxkaq16","country_code":"IT","type":"education","lineage":["https://openalex.org/I186995768"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gianluca Antonelli","raw_affiliation_strings":["Department of Electrical and Information Engineering, University of Cassino and Southern Lazio, Cassino, Italy. E-mail:"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Information Engineering, University of Cassino and Southern Lazio, Cassino, Italy. E-mail:","institution_ids":["https://openalex.org/I186995768"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041446451","display_name":"Ciro Natale","orcid":"https://orcid.org/0000-0001-6550-0573"},"institutions":[{"id":"https://openalex.org/I197809005","display_name":"University of Campania \"Luigi Vanvitelli\"","ror":"https://ror.org/02kqnpp86","country_code":"IT","type":"education","lineage":["https://openalex.org/I197809005"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Ciro Natale","raw_affiliation_strings":["Dipartimento di Ingegneria, Universit\u00e0 degli Studi della Campania \u201cLuigi Vanvitelli\u201d, Aversa, Italy. E-mail:"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria, Universit\u00e0 degli Studi della Campania \u201cLuigi Vanvitelli\u201d, Aversa, Italy. E-mail:","institution_ids":["https://openalex.org/I197809005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5017596699"],"corresponding_institution_ids":["https://openalex.org/I186995768"],"apc_list":null,"apc_paid":null,"fwci":0.6867,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.67843282,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"39","issue":"9","first_page":"1642","last_page":"1653"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9987999796867371,"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":0.9987999796867371,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9980000257492065,"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":0.9940999746322632,"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/kinematics","display_name":"Kinematics","score":0.7793025970458984},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6896800398826599},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6485952734947205},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.6226850152015686},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.60871422290802},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5981404781341553},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5734801292419434},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.529707670211792},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.5004177093505859},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4956580400466919},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.4940972626209259},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.45710596442222595},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.45119309425354004},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3855924606323242},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.330122709274292},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2401844561100006},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.21562626957893372},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1521441638469696},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.06356942653656006}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7793025970458984},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6896800398826599},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6485952734947205},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.6226850152015686},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.60871422290802},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5981404781341553},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5734801292419434},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.529707670211792},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.5004177093505859},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4956580400466919},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.4940972626209259},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.45710596442222595},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.45119309425354004},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3855924606323242},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.330122709274292},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2401844561100006},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.21562626957893372},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1521441638469696},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.06356942653656006},{"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574720001411","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574720001411","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":[{"score":0.8299999833106995,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W990093006","https://openalex.org/W1988946454","https://openalex.org/W2002529332","https://openalex.org/W2016647629","https://openalex.org/W2032381729","https://openalex.org/W2047246948","https://openalex.org/W2067069201","https://openalex.org/W2112474089","https://openalex.org/W2113265921","https://openalex.org/W2114006755","https://openalex.org/W2128543011","https://openalex.org/W2133170315","https://openalex.org/W2135929901","https://openalex.org/W2144294016","https://openalex.org/W2164032318","https://openalex.org/W2169564405","https://openalex.org/W2250331966","https://openalex.org/W2288490925","https://openalex.org/W2337286925","https://openalex.org/W2540408120","https://openalex.org/W2545029580","https://openalex.org/W2783820429","https://openalex.org/W2898886931","https://openalex.org/W2911114506","https://openalex.org/W2988334419","https://openalex.org/W4240172577"],"related_works":["https://openalex.org/W2607470227","https://openalex.org/W1508899372","https://openalex.org/W1253671258","https://openalex.org/W4300013288","https://openalex.org/W2951020105","https://openalex.org/W1995243476","https://openalex.org/W2012658348","https://openalex.org/W2039460805","https://openalex.org/W2731862817","https://openalex.org/W2572731987"],"abstract_inverted_index":{"SUMMARY":[0],"Control":[1],"algorithms":[2,63],"of":[3,22,29,34,56,70,83],"many":[4,35],"Degrees-of-Freedom":[5],"(DOFs)":[6],"systems":[7],"based":[8],"on":[9,76],"Inverse":[10,14],"Kinematics":[11],"(IK)":[12],"or":[13,48],"Dynamics":[15],"(ID)":[16],"approaches":[17],"are":[18,86,94],"two":[19],"well-known":[20],"topics":[21],"research":[23],"in":[24,39,59],"robotics.":[25],"The":[26,74],"large":[27],"number":[28],"DOFs":[30],"allows":[31],"the":[32,54,71,77,81,98],"design":[33],"concurrent":[36],"tasks":[37],"arranged":[38],"priorities,":[40],"that":[41],"can":[42],"be":[43],"solved":[44],"either":[45],"at":[46],"kinematic":[47],"dynamic":[49,72],"level.":[50],"This":[51],"paper":[52],"investigates":[53],"effects":[55,75],"modeling":[57],"errors":[58,85,93],"operational":[60],"space":[61],"control":[62],"with":[64,90],"respect":[65],"to":[66,96],"uncertainties":[67],"affecting":[68],"knowledge":[69],"parameters.":[73],"null-space":[78],"projections":[79],"and":[80],"sources":[82],"steady-state":[84],"investigated.":[87],"Numerical":[88],"simulations":[89],"on-purpose":[91],"injected":[92],"used":[95],"validate":[97],"thoughts.":[99]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
