{"id":"https://openalex.org/W2108155224","doi":"https://doi.org/10.1109/acc.2002.1025403","title":"Control of parallel mechanisms-A geometric approach","display_name":"Control of parallel mechanisms-A geometric approach","publication_year":2002,"publication_date":"2002-01-01","ids":{"openalex":"https://openalex.org/W2108155224","doi":"https://doi.org/10.1109/acc.2002.1025403","mag":"2108155224"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2002.1025403","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2002.1025403","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5028061010","display_name":"Yin Yiu","orcid":"https://orcid.org/0000-0002-5040-4308"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Y.K. Yiu","raw_affiliation_strings":["Hong Kong University of Science and Technology, Hong Kong, China","Hong Kong Univ. of Science and Tech, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hong Kong University of Science and Technology, Hong Kong, China","institution_ids":["https://openalex.org/I200769079"]},{"raw_affiliation_string":"Hong Kong Univ. of Science and Tech, China","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100784553","display_name":"Zexiang Li","orcid":"https://orcid.org/0000-0002-7920-6436"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Z.X. Li","raw_affiliation_strings":["Hong Kong University of Science and Technology, Hong Kong, China","Hong Kong Univ. of Science and Tech, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hong Kong University of Science and Technology, Hong Kong, China","institution_ids":["https://openalex.org/I200769079"]},{"raw_affiliation_string":"Hong Kong Univ. of Science and Tech, China","institution_ids":["https://openalex.org/I200769079"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I200769079"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4720","last_page":"4725 vol.6"},"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/T11394","display_name":"Dynamics and Control of Mechanical 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"}},{"id":"https://openalex.org/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9915000200271606,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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":0.7185818552970886},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6406981945037842},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6319588422775269},{"id":"https://openalex.org/keywords/submanifold","display_name":"Submanifold","score":0.6143262386322021},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.609624445438385},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4841230809688568},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.4712023437023163},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.46839451789855957},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4455413222312927},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.433714896440506},{"id":"https://openalex.org/keywords/projection","display_name":"Projection (relational algebra)","score":0.42501387000083923},{"id":"https://openalex.org/keywords/gravitational-singularity","display_name":"Gravitational singularity","score":0.4143245816230774},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.4104054570198059},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3708849549293518},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23796865344047546},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.15350282192230225},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.15019491314888},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.13247209787368774},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13160410523414612},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13114821910858154},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11772328615188599},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.10817432403564453}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7185818552970886},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6406981945037842},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6319588422775269},{"id":"https://openalex.org/C151300846","wikidata":"https://www.wikidata.org/wiki/Q125539","display_name":"Submanifold","level":2,"score":0.6143262386322021},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.609624445438385},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4841230809688568},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.4712023437023163},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.46839451789855957},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4455413222312927},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.433714896440506},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.42501387000083923},{"id":"https://openalex.org/C12843","wikidata":"https://www.wikidata.org/wiki/Q201721","display_name":"Gravitational singularity","level":2,"score":0.4143245816230774},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.4104054570198059},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3708849549293518},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23796865344047546},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.15350282192230225},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.15019491314888},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.13247209787368774},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13160410523414612},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13114821910858154},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11772328615188599},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.10817432403564453},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/acc.2002.1025403","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2002.1025403","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301)","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-38125","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-38125","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong 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/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference paper"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.550000011920929,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":5,"referenced_works":["https://openalex.org/W1528850474","https://openalex.org/W2076650116","https://openalex.org/W2116156665","https://openalex.org/W2116432558","https://openalex.org/W3140595534"],"related_works":["https://openalex.org/W2359343145","https://openalex.org/W2228423531","https://openalex.org/W4281917972","https://openalex.org/W4390092712","https://openalex.org/W2374106464","https://openalex.org/W1978176540","https://openalex.org/W4290081669","https://openalex.org/W2739833928","https://openalex.org/W2369466750","https://openalex.org/W81115686"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,61,86,96],"geometric":[4],"approach":[5],"to":[6],"the":[7,27,57,64,103,111,132,137],"analysis":[8],"and":[9,38,41,67,116],"control":[10,28,74,108,134],"of":[11,63,89,105,113,139],"parallel":[12],"mechanisms":[13,80],"(rigid":[14],"bodies":[15],"connected":[16],"by":[17],"joint":[18,100],"constraints":[19],"with":[20,85,123],"closed":[21],"kinematic":[22],"loops).":[23],"In":[24],"this":[25],"framework,":[26],"problem":[29,104],"is":[30,49,60],"naturally":[31],"decomposed":[32],"into":[33],"two":[34],"parts:":[35],"trajectory":[36,46],"(position":[37],"velocity)":[39],"tracking":[40],"constraint":[42,58,106],"force":[43,107,133,140],"control.":[44],"For":[45],"tracking,":[47],"it":[48],"shown":[50],"that":[51],"away":[52],"from":[53,98],"configuration":[54],"space":[55,59,66,115],"singularities,":[56],"submanifold":[62],"ambient":[65,114],"thus":[68],"many":[69],"well-established":[70],"(e.g.":[71],"stability":[72],"proven)":[73],"algorithms":[75],"for":[76],"serial":[77],"or":[78,121],"tree":[79],"can":[81,128],"be":[82,93,129],"directly":[83],"applied":[84],"suitable":[87],"choice":[88,112],"local":[90],"coordinates":[91],"(can":[92],"chosen":[94],"as":[95],"projection":[97],"its":[99,117],"space).":[101],"While":[102],"depends":[109],"on":[110,136],"metric.":[118],"Open":[119],"loop":[120],"PI":[122],"dynamics":[124],"compensation":[125],"type":[126],"controller":[127],"used":[130],"in":[131],"depending":[135],"availability":[138],"sensors.":[141]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
