{"id":"https://openalex.org/W4312749550","doi":"https://doi.org/10.1109/access.2022.3215720","title":"Equilibrium Configuration Analysis and Equilibrium-Based Trajectory Generation Method for Under-Constrained Cable-Driven Parallel Robot","display_name":"Equilibrium Configuration Analysis and Equilibrium-Based Trajectory Generation Method for Under-Constrained Cable-Driven Parallel Robot","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W4312749550","doi":"https://doi.org/10.1109/access.2022.3215720"},"language":"en","primary_location":{"id":"doi:10.1109/access.2022.3215720","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3215720","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09923936.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09923936.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5069625658","display_name":"Sung Wook Hwang","orcid":"https://orcid.org/0000-0003-0254-4151"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sung Wook Hwang","raw_affiliation_strings":["Department of Mechanical Engineering, Hanyang University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0003-0254-4151","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Hanyang University, Seoul, South Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016018571","display_name":"Deok Ha Kim","orcid":"https://orcid.org/0000-0002-2532-1703"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Deok Ha Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Hanyang University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-2532-1703","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Hanyang University, Seoul, South Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101729195","display_name":"Jaehwan Park","orcid":"https://orcid.org/0000-0002-9075-031X"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jaehwan Park","raw_affiliation_strings":["Department of Mechanical Engineering, Hanyang University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-9075-031X","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Hanyang University, Seoul, South Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103029432","display_name":"Jong Hyeon Park","orcid":"https://orcid.org/0000-0001-6263-375X"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jong Hyeon Park","raw_affiliation_strings":["Department of Mechanical Engineering, Hanyang University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0001-6263-375X","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Hanyang University, Seoul, South Korea","institution_ids":["https://openalex.org/I4575257"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4575257"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.6348,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":{"value":0.62973275,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"10","issue":null,"first_page":"112134","last_page":"112149"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9882000088691711,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9882000088691711,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.9768000245094299,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9732999801635742,"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/trajectory","display_name":"Trajectory","score":0.9023774862289429},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.7675410509109497},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7279587984085083},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5738605260848999},{"id":"https://openalex.org/keywords/vibration","display_name":"Vibration","score":0.5674952268600464},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49338188767433167},{"id":"https://openalex.org/keywords/natural-frequency","display_name":"Natural frequency","score":0.45191484689712524},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.42747747898101807},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16367101669311523},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10026982426643372},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.0808800756931305},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.06165039539337158}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.9023774862289429},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.7675410509109497},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7279587984085083},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5738605260848999},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.5674952268600464},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49338188767433167},{"id":"https://openalex.org/C78736273","wikidata":"https://www.wikidata.org/wiki/Q946764","display_name":"Natural frequency","level":3,"score":0.45191484689712524},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.42747747898101807},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16367101669311523},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10026982426643372},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0808800756931305},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.06165039539337158},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2022.3215720","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3215720","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09923936.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:547e5cdabd494e989835b58030d88d5c","is_oa":true,"landing_page_url":"https://doaj.org/article/547e5cdabd494e989835b58030d88d5c","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 10, Pp 112134-112149 (2022)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2022.3215720","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3215720","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09923936.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.7799999713897705,"display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G3242144244","display_name":null,"funder_award_id":"2021R1A2C1012614","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"}],"funders":[{"id":"https://openalex.org/F4320320671","display_name":"National Research Foundation","ror":"https://ror.org/05s0g1g46"},{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"},{"id":"https://openalex.org/F4320328359","display_name":"Ministry of Science and ICT, South Korea","ror":"https://ror.org/01wpjm123"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4312749550.pdf","grobid_xml":"https://content.openalex.org/works/W4312749550.grobid-xml"},"referenced_works_count":38,"referenced_works":["https://openalex.org/W157287046","https://openalex.org/W1964209667","https://openalex.org/W1976226895","https://openalex.org/W1978849564","https://openalex.org/W1978966365","https://openalex.org/W1992225021","https://openalex.org/W2001482959","https://openalex.org/W2016522069","https://openalex.org/W2035087331","https://openalex.org/W2052171761","https://openalex.org/W2059373683","https://openalex.org/W2091984359","https://openalex.org/W2110985829","https://openalex.org/W2120557068","https://openalex.org/W2130365286","https://openalex.org/W2137079522","https://openalex.org/W2149655381","https://openalex.org/W2165862167","https://openalex.org/W2165995545","https://openalex.org/W2216800679","https://openalex.org/W2338224571","https://openalex.org/W2566828748","https://openalex.org/W2579151732","https://openalex.org/W2733774018","https://openalex.org/W2789483412","https://openalex.org/W2790704040","https://openalex.org/W2805111339","https://openalex.org/W2900668914","https://openalex.org/W2981055207","https://openalex.org/W3006059872","https://openalex.org/W3015607683","https://openalex.org/W3034167006","https://openalex.org/W3093987621","https://openalex.org/W3139915398","https://openalex.org/W3214088411","https://openalex.org/W4224305648","https://openalex.org/W4232708409","https://openalex.org/W4248903154"],"related_works":["https://openalex.org/W2903025760","https://openalex.org/W4289147272","https://openalex.org/W2989775562","https://openalex.org/W2002316083","https://openalex.org/W2171541671","https://openalex.org/W2039315115","https://openalex.org/W2972304041","https://openalex.org/W1922070948","https://openalex.org/W4312749550","https://openalex.org/W2591984736"],"abstract_inverted_index":{"Under-constrained":[0],"cable-driven":[1],"parallel":[2],"robots":[3],"(UCCDPRs)":[4],"manipulate":[5],"the":[6,16,21,38,43,47,50,54,60,65,72,86,91,95,100,103,121,124,136,142,150,155,160,165,172,177,190,195],"end-effector":[7],"(EE)":[8],"by":[9,36],"employing":[10],"fewer":[11],"number":[12],"of":[13,18,20,49,90,123,164,194],"cables":[14],"than":[15],"degree":[17],"freedom":[19],"EE,":[22],"which":[23],"causes":[24],"unwanted":[25,31],"swaying":[26],"motions":[27],"and":[28,58,148,183,192],"oscillations.":[29],"These":[30],"vibrations":[32],"can":[33,106,167],"be":[34,107,168],"suppressed":[35],"using":[37],"regenerated":[39],"EE":[40,56,97,104,132,166],"trajectory":[41,57,105,113,144,152,163],"through":[42,114],"input-shaper.":[44],"However,":[45],"in":[46,94],"case":[48],"UCCDPR":[51],"systems,":[52],"generating":[53,130],"feasible":[55,131],"deriving":[59],"natural":[61,125],"frequency":[62],"for":[63],"designing":[64],"input-shaper":[66],"is":[67,76,145,153],"not":[68,146],"straightforward":[69],"since":[70],"finding":[71],"stable":[73,87],"equilibrium":[74,88,137,173],"configuration":[75,89,174],"challenging.":[77],"This":[78],"paper":[79],"proposes":[80],"a":[81,110],"novel":[82],"methodology":[83],"to":[84,158,176,188],"find":[85],"general":[92],"UCCDPRs":[93],"assigned":[96],"position.":[98],"With":[99],"proposed":[101,196],"method,":[102],"reproduced":[108],"as":[109,127,129],"vibration":[111],"suppression":[112],"an":[115],"input":[116],"shaper":[117],"designed":[118],"based":[119,134,170],"on":[120,135,171],"analysis":[122],"frequencies,":[126],"well":[128],"trajectories":[133],"configuration.":[138],"Also,":[139],"even":[140],"if":[141],"orientation":[143],"given":[147,161,178],"only":[149],"position":[151,162,179],"given,":[154],"cable":[156],"length":[157],"follow":[159],"obtained":[169],"corresponding":[175],"trajectory.":[180],"Computer":[181],"simulations":[182],"hardware":[184],"experiments":[185],"were":[186],"conducted":[187],"verify":[189],"effectiveness":[191],"performance":[193],"method.":[197]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":3}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}