{"id":"https://openalex.org/W2890365005","doi":"https://doi.org/10.1109/aim.2018.8452287","title":"Contouring Control of a 5-DOF Dual-Arm Robot for Machining Based on Equivalent Errors","display_name":"Contouring Control of a 5-DOF Dual-Arm Robot for Machining Based on Equivalent Errors","publication_year":2018,"publication_date":"2018-07-01","ids":{"openalex":"https://openalex.org/W2890365005","doi":"https://doi.org/10.1109/aim.2018.8452287","mag":"2890365005"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2018.8452287","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2018.8452287","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","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/A5023904461","display_name":"Woraphrut Kommaneesang","orcid":null},"institutions":[{"id":"https://openalex.org/I148099254","display_name":"National Chung Cheng University","ror":"https://ror.org/0028v3876","country_code":"TW","type":"education","lineage":["https://openalex.org/I148099254"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Woraphrut Kommaneesang","raw_affiliation_strings":["AIM-HI, National Chung Cheng University, Chiayi, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"AIM-HI, National Chung Cheng University, Chiayi, Taiwan","institution_ids":["https://openalex.org/I148099254"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071802827","display_name":"Shyh\u2010Leh Chen","orcid":"https://orcid.org/0000-0002-3016-9195"},"institutions":[{"id":"https://openalex.org/I148099254","display_name":"National Chung Cheng University","ror":"https://ror.org/0028v3876","country_code":"TW","type":"education","lineage":["https://openalex.org/I148099254"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Shyh-Leh Chen","raw_affiliation_strings":["AIM-HI and the Mechanical Engineering Department, National Chung Cheng University, Chiayi, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"AIM-HI and the Mechanical Engineering Department, National Chung Cheng University, Chiayi, Taiwan","institution_ids":["https://openalex.org/I148099254"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I148099254"],"apc_list":null,"apc_paid":null,"fwci":0.8023,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.65516932,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"15","issue":null,"first_page":"1349","last_page":"1353"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9998000264167786,"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":0.9998000264167786,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9976999759674072,"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/T10188","display_name":"Advanced machining processes and optimization","score":0.9955999851226807,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/contouring","display_name":"Contouring","score":0.9448003768920898},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6990096569061279},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.672692060470581},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.608013927936554},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5817403197288513},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5560160875320435},{"id":"https://openalex.org/keywords/machining","display_name":"Machining","score":0.553537130355835},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5511898994445801},{"id":"https://openalex.org/keywords/arm-solution","display_name":"Arm solution","score":0.45945364236831665},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4417332112789154},{"id":"https://openalex.org/keywords/open-loop-controller","display_name":"Open-loop controller","score":0.42732739448547363},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3767794370651245},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.36181607842445374},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3267751932144165},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21977970004081726},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19409871101379395},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16761383414268494},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1420760154724121},{"id":"https://openalex.org/keywords/closed-loop","display_name":"Closed loop","score":0.10657784342765808},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.08615782856941223}],"concepts":[{"id":"https://openalex.org/C2779104521","wikidata":"https://www.wikidata.org/wiki/Q23058469","display_name":"Contouring","level":2,"score":0.9448003768920898},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6990096569061279},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.672692060470581},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.608013927936554},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5817403197288513},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5560160875320435},{"id":"https://openalex.org/C523214423","wikidata":"https://www.wikidata.org/wiki/Q192047","display_name":"Machining","level":2,"score":0.553537130355835},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5511898994445801},{"id":"https://openalex.org/C25592040","wikidata":"https://www.wikidata.org/wiki/Q3562730","display_name":"Arm solution","level":5,"score":0.45945364236831665},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4417332112789154},{"id":"https://openalex.org/C161362739","wikidata":"https://www.wikidata.org/wiki/Q2301555","display_name":"Open-loop controller","level":3,"score":0.42732739448547363},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3767794370651245},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.36181607842445374},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3267751932144165},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21977970004081726},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19409871101379395},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16761383414268494},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1420760154724121},{"id":"https://openalex.org/C3019251811","wikidata":"https://www.wikidata.org/wiki/Q5135346","display_name":"Closed loop","level":2,"score":0.10657784342765808},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.08615782856941223},{"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"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/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim.2018.8452287","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2018.8452287","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1505522231","https://openalex.org/W1897300813","https://openalex.org/W1949613895","https://openalex.org/W1973777290","https://openalex.org/W1994044203","https://openalex.org/W2008418625","https://openalex.org/W2030397203","https://openalex.org/W2032917343","https://openalex.org/W2066421970","https://openalex.org/W2080026597","https://openalex.org/W2102466908","https://openalex.org/W2121151459","https://openalex.org/W2156246393","https://openalex.org/W2288337948","https://openalex.org/W2332017132","https://openalex.org/W2531786952","https://openalex.org/W2585588704","https://openalex.org/W3002318169","https://openalex.org/W3099688079","https://openalex.org/W6649029664","https://openalex.org/W6675088819"],"related_works":["https://openalex.org/W4390695967","https://openalex.org/W2036081980","https://openalex.org/W4388893656","https://openalex.org/W3201274123","https://openalex.org/W4361770474","https://openalex.org/W2108575589","https://openalex.org/W841410736","https://openalex.org/W2160983430","https://openalex.org/W2749023251","https://openalex.org/W4296340444"],"abstract_inverted_index":{"The":[0,110],"purpose":[1],"of":[2,10,41,58,78,100,117,133],"this":[3],"work":[4],"is":[5,72,121],"to":[6,24],"study":[7],"the":[8,26,32,37,42,47,55,59,66,69,76,83,98,114,118,127,131,134],"dynamics":[9,49],"a":[11,21,105],"5-DOF":[12],"dual-arm":[13],"robot":[14],"and":[15,23,44,103],"its":[16],"holonomic":[17],"constraints":[18,33],"during":[19],"grasping":[20],"workpiece":[22],"design":[25],"contouring":[27,70,115],"controller":[28,71,95,120],"for":[29],"machining.":[30],"With":[31],"addressed":[34],"by":[35,53,87,126],"utilizing":[36],"existing":[38],"forward":[39],"kinematics":[40],"left":[43],"right":[45],"arms,":[46],"system":[48],"can":[50],"be":[51],"represented":[52],"only":[54],"joint":[56],"space":[57],"prime":[60],"arm":[61],"(the":[62],"left-sided":[63],"one).":[64],"On":[65],"other":[67],"hand,":[68],"designed":[73],"based":[74,96],"on":[75,97],"method":[77,99],"equivalent":[79,101],"errors.":[80],"For":[81],"comparison,":[82],"numerical":[84],"results":[85,111],"performed":[86],"two":[88],"controllers:":[89],"(1)":[90],"an":[91],"integral":[92],"sliding":[93],"mode":[94],"error":[102],"(2)":[104],"distributed":[106,128],"controller,":[107,129],"are":[108],"conducted.":[109],"show":[112],"that":[113],"performance":[116],"proposed":[119,135],"much":[122],"better":[123],"than":[124],"those":[125],"verifying":[130],"effectiveness":[132],"method.":[136]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}