{"id":"https://openalex.org/W2002331366","doi":"https://doi.org/10.1109/afrcon.2011.6072144","title":"Modelling and PD control of a novel reconfigurable robotic machining manipulator","display_name":"Modelling and PD control of a novel reconfigurable robotic machining manipulator","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2002331366","doi":"https://doi.org/10.1109/afrcon.2011.6072144","mag":"2002331366"},"language":"en","primary_location":{"id":"doi:10.1109/afrcon.2011.6072144","is_oa":false,"landing_page_url":"https://doi.org/10.1109/afrcon.2011.6072144","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Africon '11","raw_type":"proceedings-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/A5055035115","display_name":"Horacio Ernesto","orcid":null},"institutions":[{"id":"https://openalex.org/I192619145","display_name":"University of the Witwatersrand","ror":"https://ror.org/03rp50x72","country_code":"ZA","type":"education","lineage":["https://openalex.org/I192619145"]}],"countries":["ZA"],"is_corresponding":true,"raw_author_name":"Horacio Ernesto","raw_affiliation_strings":["School of Mechanical Aeronautical and Industrial Engineering, University of the Witwatersrand, Johannesburg, South Africa","[School of Mechanical, Aeronautical and Industrial Engineering, University of the Witwatersrand, Johannesburg, South Africa]"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Aeronautical and Industrial Engineering, University of the Witwatersrand, Johannesburg, South Africa","institution_ids":["https://openalex.org/I192619145"]},{"raw_affiliation_string":"[School of Mechanical, Aeronautical and Industrial Engineering, University of the Witwatersrand, Johannesburg, South Africa]","institution_ids":["https://openalex.org/I192619145"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022658354","display_name":"Jimoh O. Pedro","orcid":"https://orcid.org/0000-0002-1682-0527"},"institutions":[{"id":"https://openalex.org/I192619145","display_name":"University of the Witwatersrand","ror":"https://ror.org/03rp50x72","country_code":"ZA","type":"education","lineage":["https://openalex.org/I192619145"]}],"countries":["ZA"],"is_corresponding":false,"raw_author_name":"Jimoh O. Pedro","raw_affiliation_strings":["School of Mechanical Aeronautical and Industrial Engineering, University of the Witwatersrand, Johannesburg, South Africa","[School of Mechanical, Aeronautical and Industrial Engineering, University of the Witwatersrand, Johannesburg, South Africa]"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Aeronautical and Industrial Engineering, University of the Witwatersrand, Johannesburg, South Africa","institution_ids":["https://openalex.org/I192619145"]},{"raw_affiliation_string":"[School of Mechanical, Aeronautical and Industrial Engineering, University of the Witwatersrand, Johannesburg, South Africa]","institution_ids":["https://openalex.org/I192619145"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5055035115"],"corresponding_institution_ids":["https://openalex.org/I192619145"],"apc_list":null,"apc_paid":null,"fwci":0.74921899,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.75843072,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"16","issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11159","display_name":"Manufacturing Process and Optimization","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T11741","display_name":"Flexible and Reconfigurable Manufacturing Systems","score":0.9952999949455261,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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":0.9930999875068665,"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/machining","display_name":"Machining","score":0.7365657091140747},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.660364031791687},{"id":"https://openalex.org/keywords/aerospace","display_name":"Aerospace","score":0.6167784929275513},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5628669261932373},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5037357211112976},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4940035939216614},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.455110639333725},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.44861075282096863},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4323664903640747},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.4221258759498596},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.28512755036354065},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27716395258903503},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.16237950325012207},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14486801624298096},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.09947171807289124}],"concepts":[{"id":"https://openalex.org/C523214423","wikidata":"https://www.wikidata.org/wiki/Q192047","display_name":"Machining","level":2,"score":0.7365657091140747},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.660364031791687},{"id":"https://openalex.org/C167740415","wikidata":"https://www.wikidata.org/wiki/Q2876213","display_name":"Aerospace","level":2,"score":0.6167784929275513},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5628669261932373},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5037357211112976},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4940035939216614},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.455110639333725},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.44861075282096863},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4323664903640747},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.4221258759498596},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.28512755036354065},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27716395258903503},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.16237950325012207},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14486801624298096},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.09947171807289124},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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:10.1109/afrcon.2011.6072144","is_oa":false,"landing_page_url":"https://doi.org/10.1109/afrcon.2011.6072144","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Africon '11","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5600000023841858,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W601549641","https://openalex.org/W1496777766","https://openalex.org/W1790955290","https://openalex.org/W1967088454","https://openalex.org/W1968268217","https://openalex.org/W1970752792","https://openalex.org/W1977764543","https://openalex.org/W1979045098","https://openalex.org/W2036179851","https://openalex.org/W2038815681","https://openalex.org/W2043550968","https://openalex.org/W2043840449","https://openalex.org/W2051059089","https://openalex.org/W2076049565","https://openalex.org/W2078119431","https://openalex.org/W2084880958","https://openalex.org/W2086702027","https://openalex.org/W2087232315","https://openalex.org/W2106111936","https://openalex.org/W2122823048","https://openalex.org/W2147446127","https://openalex.org/W2798613942","https://openalex.org/W6618324444","https://openalex.org/W6629617714"],"related_works":["https://openalex.org/W4225795411","https://openalex.org/W2809744190","https://openalex.org/W2511013388","https://openalex.org/W2044192478","https://openalex.org/W2064861618","https://openalex.org/W4378695326","https://openalex.org/W29956273","https://openalex.org/W2356599848","https://openalex.org/W2089786029","https://openalex.org/W4253188448"],"abstract_inverted_index":{"Robotic":[0],"machining":[1,43],"is":[2,60,77],"being":[3],"applied":[4],"in":[5,15,48,82],"the":[6,58,69,73,92,95,99],"manufacture":[7],"of":[8,12,37,57,84,94],"a":[9,16,29,38,49,85],"broad":[10],"spectrum":[11],"products":[13],"and":[14,33,67],"diverse":[17],"industrial":[18],"sectors":[19],"ranging":[20],"from":[21],"aerospace,":[22],"automotive":[23],"to":[24],"fashion.":[25],"This":[26],"paper":[27],"presents":[28],"conceptual":[30,55],"design,":[31],"modelling":[32],"proportional-derivative":[34],"(PD)":[35],"control":[36],"four":[39],"degree-of-freedom":[40],"(DOF)":[41],"robotic":[42],"manipulator":[44],"(RMM)":[45],"for":[46,72,79],"use":[47],"reconfigurable":[50],"manufacturing":[51],"system":[52,76],"(RMS).":[53],"The":[54,88],"design":[56],"RMM":[59],"introduced,":[61],"followed":[62],"by":[63],"its":[64],"mathematical":[65],"modelling,":[66],"then":[68],"PD":[70,96],"controller":[71,97],"multi-input/multi-output":[74],"(MIMO)":[75],"designed":[78],"position":[80],"tracking":[81,102],"absence":[83],"dither":[86],"signal.":[87],"simulation":[89],"results":[90],"justify":[91],"application":[93],"through":[98],"set":[100],"point":[101],"performances.":[103]},"counts_by_year":[{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}