{"id":"https://openalex.org/W2128660069","doi":"https://doi.org/10.1017/s0263574799001885","title":"Improved performance for robot manipulators via transmission re-design: the SPRINTA","display_name":"Improved performance for robot manipulators via transmission re-design: the SPRINTA","publication_year":2000,"publication_date":"2000-03-01","ids":{"openalex":"https://openalex.org/W2128660069","doi":"https://doi.org/10.1017/s0263574799001885","mag":"2128660069"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574799001885","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574799001885","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/A5103445486","display_name":"Peter J. Turner","orcid":null},"institutions":[{"id":"https://openalex.org/I59433898","display_name":"Brunel University of London","ror":"https://ror.org/00dn4t376","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I59433898"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"P.J. Turner","raw_affiliation_strings":["Department of Elec. Eng. and Electronics, Brunel University, Uxbridge, UB8 3PH (UK) E-mail:","Department of Elec. Eng. and Electronics, Brunel University, Uxbridge, UB8 3PH (UK) E-mail: dr.p.j.turner@brunel.ac.uk, pierre.nigrowsky@brunel.ac.uk"],"affiliations":[{"raw_affiliation_string":"Department of Elec. Eng. and Electronics, Brunel University, Uxbridge, UB8 3PH (UK) E-mail:","institution_ids":["https://openalex.org/I59433898"]},{"raw_affiliation_string":"Department of Elec. Eng. and Electronics, Brunel University, Uxbridge, UB8 3PH (UK) E-mail: dr.p.j.turner@brunel.ac.uk, pierre.nigrowsky@brunel.ac.uk","institution_ids":["https://openalex.org/I59433898"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084997767","display_name":"P. Nigrowsky","orcid":null},"institutions":[{"id":"https://openalex.org/I59433898","display_name":"Brunel University of London","ror":"https://ror.org/00dn4t376","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I59433898"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"P. Nigrowsky","raw_affiliation_strings":["Department of Elec. Eng. and Electronics, Brunel University, Uxbridge, UB8 3PH (UK) E-mail:","Department of Elec. Eng. and Electronics, Brunel University, Uxbridge, UB8 3PH (UK) E-mail: dr.p.j.turner@brunel.ac.uk, pierre.nigrowsky@brunel.ac.uk"],"affiliations":[{"raw_affiliation_string":"Department of Elec. Eng. and Electronics, Brunel University, Uxbridge, UB8 3PH (UK) E-mail:","institution_ids":["https://openalex.org/I59433898"]},{"raw_affiliation_string":"Department of Elec. Eng. and Electronics, Brunel University, Uxbridge, UB8 3PH (UK) E-mail: dr.p.j.turner@brunel.ac.uk, pierre.nigrowsky@brunel.ac.uk","institution_ids":["https://openalex.org/I59433898"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005995212","display_name":"G. Vines","orcid":null},"institutions":[{"id":"https://openalex.org/I59433898","display_name":"Brunel University of London","ror":"https://ror.org/00dn4t376","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I59433898"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"G. Vines","raw_affiliation_strings":["Department of Elec. Eng. and Electronics, Brunel University, Uxbridge, UB8 3PH (UK) E-mail:","Department of Elec. Eng. and Electronics, Brunel University, Uxbridge, UB8 3PH (UK) E-mail: dr.p.j.turner@brunel.ac.uk, pierre.nigrowsky@brunel.ac.uk"],"affiliations":[{"raw_affiliation_string":"Department of Elec. Eng. and Electronics, Brunel University, Uxbridge, UB8 3PH (UK) E-mail:","institution_ids":["https://openalex.org/I59433898"]},{"raw_affiliation_string":"Department of Elec. Eng. and Electronics, Brunel University, Uxbridge, UB8 3PH (UK) E-mail: dr.p.j.turner@brunel.ac.uk, pierre.nigrowsky@brunel.ac.uk","institution_ids":["https://openalex.org/I59433898"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5103445486"],"corresponding_institution_ids":["https://openalex.org/I59433898"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.14204992,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"18","issue":"2","first_page":"195","last_page":"200"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9983999729156494,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9983999729156494,"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":0.9973000288009644,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9966999888420105,"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/gimbal","display_name":"Gimbal","score":0.8943514823913574},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.6540653109550476},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6345086097717285},{"id":"https://openalex.org/keywords/backlash","display_name":"Backlash","score":0.6275511980056763},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6014636754989624},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.593097984790802},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.536544144153595},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.45944085717201233},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4504871070384979},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.425744891166687},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3911594748497009},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2090388834476471},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16616946458816528}],"concepts":[{"id":"https://openalex.org/C125750033","wikidata":"https://www.wikidata.org/wiki/Q1146104","display_name":"Gimbal","level":2,"score":0.8943514823913574},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.6540653109550476},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6345086097717285},{"id":"https://openalex.org/C2776652708","wikidata":"https://www.wikidata.org/wiki/Q584028","display_name":"Backlash","level":2,"score":0.6275511980056763},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6014636754989624},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.593097984790802},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.536544144153595},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.45944085717201233},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4504871070384979},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.425744891166687},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3911594748497009},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2090388834476471},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16616946458816528},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","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},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574799001885","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574799001885","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":[{"id":"https://metadata.un.org/sdg/16","score":0.5299999713897705,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W141989378","https://openalex.org/W1500826814","https://openalex.org/W1596805757","https://openalex.org/W2027753573","https://openalex.org/W2141422055","https://openalex.org/W3043217108","https://openalex.org/W3140378392","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2365225477","https://openalex.org/W2384517232","https://openalex.org/W2318553114","https://openalex.org/W154709440","https://openalex.org/W2024266781","https://openalex.org/W1633054722","https://openalex.org/W2524102889","https://openalex.org/W2351888857","https://openalex.org/W2589848582","https://openalex.org/W2068695854"],"abstract_inverted_index":{"A":[0],"new":[1],"design":[2],"philosophy":[3,22],"for":[4,71,75,102],"the":[5,24,34,38,41,85,103,112],"transmission":[6,54],"of":[7,15,26,32,51,88,114,118],"robot":[8],"manipulators":[9],"is":[10,19,48,57,82],"proposed":[11],"and":[12,40,64,74,99],"an":[13,49],"example":[14,50],"a":[16,52,67,116],"practical":[17],"implementation":[18],"presented.":[20],"The":[21,45,79,109],"combines":[23],"advantages":[25],"conventional":[27],"geared":[28],"robots":[29],"in":[30],"terms":[31],"relocating":[33],"actuators":[35],"away":[36],"from":[37],"joints":[39],"alternative":[42],"direct-drive":[43],"approach.":[44],"gimbal":[46,80],"drive":[47,81],"non-linear":[53],"where":[55],"there":[56],"negligible":[58],"friction,":[59],"no":[60],"backlash":[61],"or":[62],"compliance":[63],"which":[65],"provides":[66],"varying":[68],"reduction":[69],"ratio":[70],"gravity":[72],"compensation":[73],"some":[76],"dynamic":[77,100],"decoupling.":[78],"implemented":[83],"on":[84],"three":[86],"degrees":[87],"freedom":[89],"SPRINTA":[90],"prototype.":[91],"Static":[92],"repeatability,":[93],"as":[94,96],"well":[95],"tracking":[97],"error":[98],"repeatability":[101],"industrial":[104],"goalpost":[105],"test":[106],"are":[107],"measured.":[108],"performance":[110],"demonstrates":[111],"potential":[113],"such":[115],"type":[117],"robot.":[119]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}