{"id":"https://openalex.org/W4307446443","doi":"https://doi.org/10.1017/s0263574722001485","title":"Mechatronic design of dynamically decoupled manipulators based on the control performance improvement","display_name":"Mechatronic design of dynamically decoupled manipulators based on the control performance improvement","publication_year":2022,"publication_date":"2022-10-27","ids":{"openalex":"https://openalex.org/W4307446443","doi":"https://doi.org/10.1017/s0263574722001485"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574722001485","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574722001485","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/A5007882215","display_name":"Yaodong Lu","orcid":"https://orcid.org/0000-0002-8412-9340"},"institutions":[{"id":"https://openalex.org/I100445878","display_name":"\u00c9cole Centrale de Nantes","ror":"https://ror.org/03nh7d505","country_code":"FR","type":"education","lineage":["https://openalex.org/I100445878","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I28221208","display_name":"Institut National des Sciences Appliqu\u00e9es de Rennes","ror":"https://ror.org/04xaa4j22","country_code":"FR","type":"education","lineage":["https://openalex.org/I28221208"]},{"id":"https://openalex.org/I4210117005","display_name":"Laboratoire des Sciences du Num\u00e9rique de Nantes","ror":"https://ror.org/02snf8m58","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100445878","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I4210117005","https://openalex.org/I4210124215","https://openalex.org/I4210127572","https://openalex.org/I4210139971","https://openalex.org/I97188460","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I4210159412","display_name":"Intelligent Machines (Sweden)","ror":"https://ror.org/05nzk9q32","country_code":"SE","type":"company","lineage":["https://openalex.org/I4210159412"]},{"id":"https://openalex.org/I97188460","display_name":"Nantes Universit\u00e9","ror":"https://ror.org/03gnr7b55","country_code":"FR","type":"education","lineage":["https://openalex.org/I97188460"]}],"countries":["FR","SE"],"is_corresponding":true,"raw_author_name":"Yaodong Lu","raw_affiliation_strings":["France, Laboratoire des Sciences du Num\u00e9rique de Nantes, UMR 6004, 1, rue DE LA No\u00eb, BP 92101, Nantes, 44321","Mecaproce/INSA-Rennes, 20 av. des Buttes de Coesmes, CS 70839, Rennes, 35708, France","Nantes Universit\u00e9, \u00c9cole Centrale de Nantes, France","Robots and Machines for Manufacturing, Society and Services","Laboratoire des Sciences du Num\u00e9rique de Nantes"],"raw_orcid":"https://orcid.org/0000-0002-8412-9340","affiliations":[{"raw_affiliation_string":"France, Laboratoire des Sciences du Num\u00e9rique de Nantes, UMR 6004, 1, rue DE LA No\u00eb, BP 92101, Nantes, 44321","institution_ids":["https://openalex.org/I4210117005"]},{"raw_affiliation_string":"Mecaproce/INSA-Rennes, 20 av. des Buttes de Coesmes, CS 70839, Rennes, 35708, France","institution_ids":["https://openalex.org/I28221208"]},{"raw_affiliation_string":"Nantes Universit\u00e9, \u00c9cole Centrale de Nantes, France","institution_ids":["https://openalex.org/I100445878","https://openalex.org/I97188460"]},{"raw_affiliation_string":"Robots and Machines for Manufacturing, Society and Services","institution_ids":["https://openalex.org/I4210159412"]},{"raw_affiliation_string":"Laboratoire des Sciences du Num\u00e9rique de Nantes","institution_ids":["https://openalex.org/I97188460","https://openalex.org/I4210117005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035774557","display_name":"Yannick Aoustin","orcid":"https://orcid.org/0000-0002-3484-117X"},"institutions":[{"id":"https://openalex.org/I100445878","display_name":"\u00c9cole Centrale de Nantes","ror":"https://ror.org/03nh7d505","country_code":"FR","type":"education","lineage":["https://openalex.org/I100445878","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I4210098480","display_name":"Vivant (United States)","ror":"https://ror.org/00xsmqz41","country_code":"US","type":"company","lineage":["https://openalex.org/I4210098480"]},{"id":"https://openalex.org/I4210117005","display_name":"Laboratoire des Sciences du Num\u00e9rique de Nantes","ror":"https://ror.org/02snf8m58","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100445878","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I4210117005","https://openalex.org/I4210124215","https://openalex.org/I4210127572","https://openalex.org/I4210139971","https://openalex.org/I97188460","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I97188460","display_name":"Nantes Universit\u00e9","ror":"https://ror.org/03gnr7b55","country_code":"FR","type":"education","lineage":["https://openalex.org/I97188460"]}],"countries":["FR","US"],"is_corresponding":false,"raw_author_name":"Yannick Aoustin","raw_affiliation_strings":["France, Laboratoire des Sciences du Num\u00e9rique de Nantes, UMR 6004, 1, rue DE LA No\u00eb, BP 92101, Nantes, 44321","Nantes Universit\u00e9, \u00c9cole Centrale de Nantes, France","Robotique Et Vivant","Laboratoire des Sciences du Num\u00e9rique de Nantes"],"raw_orcid":"https://orcid.org/0000-0002-3484-117X","affiliations":[{"raw_affiliation_string":"France, Laboratoire des Sciences du Num\u00e9rique de Nantes, UMR 6004, 1, rue DE LA No\u00eb, BP 92101, Nantes, 44321","institution_ids":["https://openalex.org/I4210117005"]},{"raw_affiliation_string":"Nantes Universit\u00e9, \u00c9cole Centrale de Nantes, France","institution_ids":["https://openalex.org/I100445878","https://openalex.org/I97188460"]},{"raw_affiliation_string":"Robotique Et Vivant","institution_ids":["https://openalex.org/I4210098480"]},{"raw_affiliation_string":"Laboratoire des Sciences du Num\u00e9rique de Nantes","institution_ids":["https://openalex.org/I97188460","https://openalex.org/I4210117005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109446733","display_name":"Vigen Arakelian","orcid":null},"institutions":[{"id":"https://openalex.org/I100445878","display_name":"\u00c9cole Centrale de Nantes","ror":"https://ror.org/03nh7d505","country_code":"FR","type":"education","lineage":["https://openalex.org/I100445878","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I28221208","display_name":"Institut National des Sciences Appliqu\u00e9es de Rennes","ror":"https://ror.org/04xaa4j22","country_code":"FR","type":"education","lineage":["https://openalex.org/I28221208"]},{"id":"https://openalex.org/I4210117005","display_name":"Laboratoire des Sciences du Num\u00e9rique de Nantes","ror":"https://ror.org/02snf8m58","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100445878","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I4210117005","https://openalex.org/I4210124215","https://openalex.org/I4210127572","https://openalex.org/I4210139971","https://openalex.org/I97188460","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I4210159412","display_name":"Intelligent Machines (Sweden)","ror":"https://ror.org/05nzk9q32","country_code":"SE","type":"company","lineage":["https://openalex.org/I4210159412"]},{"id":"https://openalex.org/I97188460","display_name":"Nantes Universit\u00e9","ror":"https://ror.org/03gnr7b55","country_code":"FR","type":"education","lineage":["https://openalex.org/I97188460"]}],"countries":["FR","SE"],"is_corresponding":false,"raw_author_name":"Vigen Arakelian","raw_affiliation_strings":["France, Laboratoire des Sciences du Num\u00e9rique de Nantes, UMR 6004, 1, rue DE LA No\u00eb, BP 92101, Nantes, 44321","Mecaproce/INSA-Rennes, 20 av. des Buttes de Coesmes, CS 70839, Rennes, 35708, France","Nantes Universit\u00e9, \u00c9cole Centrale de Nantes, France","Robots and Machines for Manufacturing, Society and Services","Laboratoire des Sciences du Num\u00e9rique de Nantes"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"France, Laboratoire des Sciences du Num\u00e9rique de Nantes, UMR 6004, 1, rue DE LA No\u00eb, BP 92101, Nantes, 44321","institution_ids":["https://openalex.org/I4210117005"]},{"raw_affiliation_string":"Mecaproce/INSA-Rennes, 20 av. des Buttes de Coesmes, CS 70839, Rennes, 35708, France","institution_ids":["https://openalex.org/I28221208"]},{"raw_affiliation_string":"Nantes Universit\u00e9, \u00c9cole Centrale de Nantes, France","institution_ids":["https://openalex.org/I100445878","https://openalex.org/I97188460"]},{"raw_affiliation_string":"Robots and Machines for Manufacturing, Society and Services","institution_ids":["https://openalex.org/I4210159412"]},{"raw_affiliation_string":"Laboratoire des Sciences du Num\u00e9rique de Nantes","institution_ids":["https://openalex.org/I97188460","https://openalex.org/I4210117005"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5007882215"],"corresponding_institution_ids":["https://openalex.org/I100445878","https://openalex.org/I28221208","https://openalex.org/I4210117005","https://openalex.org/I4210159412","https://openalex.org/I97188460"],"apc_list":null,"apc_paid":null,"fwci":0.3519,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.56661708,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"41","issue":"2","first_page":"609","last_page":"631"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9991000294685364,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9991000294685364,"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":0.9984999895095825,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8381761908531189},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6812872886657715},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.6622734069824219},{"id":"https://openalex.org/keywords/mechatronics","display_name":"Mechatronics","score":0.6549229621887207},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6350117921829224},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.6062904000282288},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.59602952003479},{"id":"https://openalex.org/keywords/nonlinear-control","display_name":"Nonlinear control","score":0.5170074701309204},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4697414040565491},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4693509042263031},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.43975815176963806},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35895106196403503},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23506858944892883},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10864746570587158}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8381761908531189},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6812872886657715},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.6622734069824219},{"id":"https://openalex.org/C28704281","wikidata":"https://www.wikidata.org/wiki/Q180165","display_name":"Mechatronics","level":2,"score":0.6549229621887207},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6350117921829224},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.6062904000282288},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.59602952003479},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.5170074701309204},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4697414040565491},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4693509042263031},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.43975815176963806},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35895106196403503},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23506858944892883},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10864746570587158},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1017/s0263574722001485","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574722001485","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:HAL:hal-03831729v1","is_oa":false,"landing_page_url":"https://hal.science/hal-03831729","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotica, 2022, pp.1-23. ⟨10.1017/S0263574722001485⟩","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1521629604","https://openalex.org/W1575037797","https://openalex.org/W1966948790","https://openalex.org/W1983716668","https://openalex.org/W1997014929","https://openalex.org/W2002519566","https://openalex.org/W2002919355","https://openalex.org/W2011116142","https://openalex.org/W2019574369","https://openalex.org/W2020362991","https://openalex.org/W2043887098","https://openalex.org/W2062504791","https://openalex.org/W2081417772","https://openalex.org/W2086812009","https://openalex.org/W2093141008","https://openalex.org/W2099441579","https://openalex.org/W2104752886","https://openalex.org/W2109067716","https://openalex.org/W2153285214","https://openalex.org/W2165643318","https://openalex.org/W2168572306","https://openalex.org/W2172919553","https://openalex.org/W2526059727","https://openalex.org/W2593365047","https://openalex.org/W2788233619","https://openalex.org/W2964793009","https://openalex.org/W3108431994","https://openalex.org/W3123492637","https://openalex.org/W3199654468","https://openalex.org/W4200458233","https://openalex.org/W4206307496","https://openalex.org/W4206364285","https://openalex.org/W4206445966","https://openalex.org/W4250904644","https://openalex.org/W6748561985"],"related_works":["https://openalex.org/W1998462347","https://openalex.org/W2349527210","https://openalex.org/W1836713364","https://openalex.org/W2141603307","https://openalex.org/W4300511988","https://openalex.org/W2131265573","https://openalex.org/W2899783744","https://openalex.org/W2381676799","https://openalex.org/W2536008974","https://openalex.org/W1591566337"],"abstract_inverted_index":{"Abstract":[0],"The":[1,95,184],"control":[2,12,33,37,130,188],"of":[3,18,48,62,72,107,115,124,147,169,175],"industrial":[4],"robot":[5],"manipulators":[6,108],"presents":[7],"a":[8,63,78,173],"difficult":[9],"problem":[10,61,96],"for":[11,50],"engineers":[13],"due":[14],"to":[15,31,41,46,67,86,121,135,161],"the":[16,59,70,92,103,116,122,137,145,153,163,170],"complexity":[17],"their":[19],"nonlinear":[20,36,73,154],"dynamics":[21],"models.":[22],"Nonlinear":[23],"controls":[24,155],"based":[25],"on":[26],"feedback":[27],"linearization":[28],"are":[29,109,159],"developed":[30],"meet":[32],"requirements.":[34],"Model-based":[35],"is":[38,58,82,97,132,190],"highly":[39],"sensitive":[40],"parameter":[42,148],"errors":[43],"and":[44,56,111,150],"leads":[45,120],"problems":[47],"robustness":[49],"tracking":[51],"trajectories":[52],"at":[53],"high":[54],"speeds,":[55],"there":[57],"additional":[60],"heavy":[64],"computational":[65],"burden":[66],"consider":[68],"in":[69,99,144,181,187],"design":[71,80,89],"controllers.":[74],"In":[75],"this":[76,176],"paper,":[77],"mechatronic":[79],"approach":[81,177],"proposed,":[83],"which":[84,119],"aims":[85],"facilitate":[87],"controller":[88,182],"by":[90],"redesigning":[91],"mechanical":[93],"structure.":[94],"approached":[98],"two":[100,193],"steps:":[101],"first,":[102],"dynamic":[104],"decoupling":[105,123],"conditions":[106],"described":[110],"discussed,":[112],"involving":[113],"redistribution":[114],"moving":[117],"mass,":[118],"motion":[125],"equations.":[126],"A":[127],"classical":[128],"linear":[129],"law":[131],"then":[133],"used":[134],"track":[136],"desired":[138],"efficient":[139],"bang-bang":[140],"profile":[141],"trajectory.":[142],"Then,":[143],"presence":[146],"uncertainty":[149],"external":[151],"disturbances,":[152],"with":[156],"simple":[157],"structures":[158],"adopted":[160],"stabilize":[162],"decoupled":[164],"system":[165],"asymptotically.":[166],"An":[167],"analysis":[168],"results":[171],"from":[172],"simulation":[174],"demonstrates":[178],"its":[179],"effectiveness":[180],"design.":[183],"proposed":[185],"improvement":[186],"performance":[189],"illustrated":[191],"via":[192],"spatial":[194],"manipulators.":[195]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}