{"id":"https://openalex.org/W2790761814","doi":"https://doi.org/10.1080/01691864.2017.1421097","title":"Simultaneous design of parameters and controller of robotic manipulators: closed loop approach to practical implementation","display_name":"Simultaneous design of parameters and controller of robotic manipulators: closed loop approach to practical implementation","publication_year":2018,"publication_date":"2018-02-01","ids":{"openalex":"https://openalex.org/W2790761814","doi":"https://doi.org/10.1080/01691864.2017.1421097","mag":"2790761814"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2017.1421097","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2017.1421097","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","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/A5101578978","display_name":"Morteza Moradi","orcid":"https://orcid.org/0000-0002-5141-345X"},"institutions":[{"id":"https://openalex.org/I158248296","display_name":"Amirkabir University of Technology","ror":"https://ror.org/04gzbav43","country_code":"IR","type":"education","lineage":["https://openalex.org/I158248296"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"M. Moradi","raw_affiliation_strings":["Department of Mechanical Engineering, Amirkabir University of Technology, Tehran, Iran"],"raw_orcid":"https://orcid.org/0000-0002-5141-345X","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Amirkabir University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I158248296"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101775506","display_name":"Mahyar Naraghi","orcid":"https://orcid.org/0000-0002-0125-848X"},"institutions":[{"id":"https://openalex.org/I158248296","display_name":"Amirkabir University of Technology","ror":"https://ror.org/04gzbav43","country_code":"IR","type":"education","lineage":["https://openalex.org/I158248296"]}],"countries":["IR"],"is_corresponding":true,"raw_author_name":"M. Naraghi","raw_affiliation_strings":["Department of Mechanical Engineering, Amirkabir University of Technology, Tehran, Iran"],"raw_orcid":"https://orcid.org/0000-0002-0125-848X","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Amirkabir University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I158248296"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049141657","display_name":"Ali Kamali E.","orcid":"https://orcid.org/0000-0002-0585-9653"},"institutions":[{"id":"https://openalex.org/I158248296","display_name":"Amirkabir University of Technology","ror":"https://ror.org/04gzbav43","country_code":"IR","type":"education","lineage":["https://openalex.org/I158248296"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"A. Kamali E.","raw_affiliation_strings":["Department of Mechanical Engineering, Amirkabir University of Technology, Tehran, Iran"],"raw_orcid":"https://orcid.org/0000-0002-0585-9653","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Amirkabir University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I158248296"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101775506"],"corresponding_institution_ids":["https://openalex.org/I158248296"],"apc_list":null,"apc_paid":null,"fwci":0.9363,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.75119052,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"32","issue":"3","first_page":"105","last_page":"121"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9988999962806702,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9988999962806702,"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/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9940000176429749,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"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":0.6750510334968567},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.6351057291030884},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6223486065864563},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5613017082214355},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.538165807723999},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5095387101173401},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4969973862171173},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.46779686212539673},{"id":"https://openalex.org/keywords/closed-loop","display_name":"Closed loop","score":0.44205451011657715},{"id":"https://openalex.org/keywords/open-loop-controller","display_name":"Open-loop controller","score":0.428152859210968},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3998981714248657},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3903689384460449},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20052403211593628},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19962644577026367},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13160431385040283}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6750510334968567},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.6351057291030884},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6223486065864563},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5613017082214355},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.538165807723999},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5095387101173401},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4969973862171173},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.46779686212539673},{"id":"https://openalex.org/C3019251811","wikidata":"https://www.wikidata.org/wiki/Q5135346","display_name":"Closed loop","level":2,"score":0.44205451011657715},{"id":"https://openalex.org/C161362739","wikidata":"https://www.wikidata.org/wiki/Q2301555","display_name":"Open-loop controller","level":3,"score":0.428152859210968},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3998981714248657},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3903689384460449},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20052403211593628},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19962644577026367},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13160431385040283},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/01691864.2017.1421097","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2017.1421097","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1488020525","https://openalex.org/W1492186721","https://openalex.org/W1595516097","https://openalex.org/W1970233012","https://openalex.org/W1970885941","https://openalex.org/W1971182370","https://openalex.org/W1973471730","https://openalex.org/W1984741790","https://openalex.org/W2004853829","https://openalex.org/W2040409595","https://openalex.org/W2051021487","https://openalex.org/W2052921756","https://openalex.org/W2059014116","https://openalex.org/W2077746024","https://openalex.org/W2083283377","https://openalex.org/W2093871792","https://openalex.org/W2096782936","https://openalex.org/W2099662264","https://openalex.org/W2103546845","https://openalex.org/W2105849598","https://openalex.org/W2108286682","https://openalex.org/W2127307933","https://openalex.org/W2143281686","https://openalex.org/W2162218551","https://openalex.org/W2253274306","https://openalex.org/W2286923498","https://openalex.org/W2308861329","https://openalex.org/W2318583407","https://openalex.org/W2327130377","https://openalex.org/W2328264004","https://openalex.org/W2329985799","https://openalex.org/W2430294223","https://openalex.org/W2763181482","https://openalex.org/W3142707146","https://openalex.org/W4235175628","https://openalex.org/W4255423908"],"related_works":["https://openalex.org/W4256132489","https://openalex.org/W2162492316","https://openalex.org/W2359012561","https://openalex.org/W1538523502","https://openalex.org/W2156481787","https://openalex.org/W1521857137","https://openalex.org/W2901251206","https://openalex.org/W2103982267","https://openalex.org/W2156285637","https://openalex.org/W2167546557"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"Simultaneous":[3],"Design":[4],"of":[5,11,52,141],"Plant":[6],"parameters":[7],"and":[8,49,65,97],"Controller":[9],"(SDPC)":[10],"robotic":[12,38],"manipulators":[13],"is":[14,27,41,77,107,129],"presented":[15],"using":[16,60],"the":[17,34,45,61,69,89,95,108,118,122,126,142],"Closed":[18],"Loop":[19,91],"(CL)":[20],"optimal":[21,46,96],"control":[22,63,115],"approach.":[23],"Since":[24],"a":[25,50,102],"robot":[26,82],"inherently":[28],"used":[29,79],"to":[30,80],"perform":[31],"repetitive":[32],"tasks,":[33],"SDPC":[35],"problem":[36,48],"for":[37],"manipulator":[39],"systems":[40],"practically":[42],"reformulated":[43],"as":[44],"balancing":[47,99],"demonstration":[51],"practical":[53],"implementation.":[54],"The":[55,73,84],"optimality":[56],"conditions":[57],"are":[58,86],"derived":[59],"CL-optimal":[62],"theory":[64],"then":[66],"solved":[67],"by":[68],"policy":[70,75],"iteration":[71,76],"method.":[72],"modified":[74],"further":[78],"design":[81],"parameters.":[83],"results":[85],"compared":[87],"with":[88],"Open":[90],"(OL)":[92],"solution":[93],"through":[94],"static":[98],"cases.":[100],"As":[101],"final":[103],"point,":[104],"although":[105],"OL":[106,143],"exact":[109],"solution,":[110],"but":[111],"it":[112],"has":[113,133],"higher":[114],"cost":[116,127],"over":[117],"CL":[119],"implementation":[120],"(for":[121],"case":[123],"implemented":[124],"here":[125],"difference":[128],"16.75%).":[130],"Also":[131],"CL-case":[132],"much":[134],"shorter":[135],"calculation":[136],"time":[137],"(51%)":[138],"than":[139],"that":[140],"case.":[144]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}