{"id":"https://openalex.org/W2006387883","doi":"https://doi.org/10.1109/amc.2012.6197031","title":"Fuzzy controller scheduling for robotic manipulator force control","display_name":"Fuzzy controller scheduling for robotic manipulator force control","publication_year":2012,"publication_date":"2012-03-01","ids":{"openalex":"https://openalex.org/W2006387883","doi":"https://doi.org/10.1109/amc.2012.6197031","mag":"2006387883"},"language":"en","primary_location":{"id":"doi:10.1109/amc.2012.6197031","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc.2012.6197031","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","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/A5037951131","display_name":"Mireia P\u00e9rez Plius","orcid":null},"institutions":[{"id":"https://openalex.org/I134235054","display_name":"Sabanc\u0131 \u00dcniversitesi","ror":"https://ror.org/049asqa32","country_code":"TR","type":"education","lineage":["https://openalex.org/I134235054"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Mireia Perez Plius","raw_affiliation_strings":["Faculty of Engineering and Natural Sciences, Sabanci University, Istanbul, Turkey","Faculty of Engineering and Natural Sciences, Sabanc\u0131 University, Istanbul 34956, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences, Sabanci University, Istanbul, Turkey","institution_ids":["https://openalex.org/I134235054"]},{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences, Sabanc\u0131 University, Istanbul 34956, Turkey","institution_ids":["https://openalex.org/I134235054"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082994744","display_name":"Metin Y\u0131lmaz","orcid":"https://orcid.org/0000-0001-9478-4114"},"institutions":[{"id":"https://openalex.org/I134235054","display_name":"Sabanc\u0131 \u00dcniversitesi","ror":"https://ror.org/049asqa32","country_code":"TR","type":"education","lineage":["https://openalex.org/I134235054"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Metin Yilmaz","raw_affiliation_strings":["Faculty of Engineering and Natural Sciences, Sabanci University, Istanbul, Turkey","Faculty of Engineering and Natural Sciences, Sabanc\u0131 University, Istanbul 34956, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences, Sabanci University, Istanbul, Turkey","institution_ids":["https://openalex.org/I134235054"]},{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences, Sabanc\u0131 University, Istanbul 34956, Turkey","institution_ids":["https://openalex.org/I134235054"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041722436","display_name":"Utku Seven","orcid":null},"institutions":[{"id":"https://openalex.org/I134235054","display_name":"Sabanc\u0131 \u00dcniversitesi","ror":"https://ror.org/049asqa32","country_code":"TR","type":"education","lineage":["https://openalex.org/I134235054"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Utku Seven","raw_affiliation_strings":["Faculty of Engineering and Natural Sciences, Sabanci University, Istanbul, Turkey","Faculty of Engineering and Natural Sciences, Sabanc\u0131 University, Istanbul 34956, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences, Sabanci University, Istanbul, Turkey","institution_ids":["https://openalex.org/I134235054"]},{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences, Sabanc\u0131 University, Istanbul 34956, Turkey","institution_ids":["https://openalex.org/I134235054"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033078122","display_name":"Kemalettin Erbatur","orcid":"https://orcid.org/0000-0001-6024-5112"},"institutions":[{"id":"https://openalex.org/I134235054","display_name":"Sabanc\u0131 \u00dcniversitesi","ror":"https://ror.org/049asqa32","country_code":"TR","type":"education","lineage":["https://openalex.org/I134235054"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Kemalettin Erbatur","raw_affiliation_strings":["Faculty of Engineering and Natural Sciences, Sabanci University, Istanbul, Turkey","Faculty of Engineering and Natural Sciences, Sabanc\u0131 University, Istanbul 34956, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences, Sabanci University, Istanbul, Turkey","institution_ids":["https://openalex.org/I134235054"]},{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences, Sabanc\u0131 University, Istanbul 34956, Turkey","institution_ids":["https://openalex.org/I134235054"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I134235054"],"apc_list":null,"apc_paid":null,"fwci":2.1882,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.8533556,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"17","issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","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/T10653","display_name":"Robot Manipulation and Learning","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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9952999949455261,"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"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9839000105857849,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/scara","display_name":"SCARA","score":0.7869224548339844},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6788284182548523},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.6376591920852661},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5590469837188721},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5581762194633484},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5407543182373047},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5320625901222229},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.4928169548511505},{"id":"https://openalex.org/keywords/scheduling","display_name":"Scheduling (production processes)","score":0.4369544982910156},{"id":"https://openalex.org/keywords/gain-scheduling","display_name":"Gain scheduling","score":0.4193495213985443},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3008294403553009},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27203136682510376},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15970146656036377}],"concepts":[{"id":"https://openalex.org/C158732272","wikidata":"https://www.wikidata.org/wiki/Q1484792","display_name":"SCARA","level":3,"score":0.7869224548339844},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6788284182548523},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.6376591920852661},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5590469837188721},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5581762194633484},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5407543182373047},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5320625901222229},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.4928169548511505},{"id":"https://openalex.org/C206729178","wikidata":"https://www.wikidata.org/wiki/Q2271896","display_name":"Scheduling (production processes)","level":2,"score":0.4369544982910156},{"id":"https://openalex.org/C97090092","wikidata":"https://www.wikidata.org/wiki/Q764612","display_name":"Gain scheduling","level":3,"score":0.4193495213985443},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3008294403553009},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27203136682510376},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15970146656036377},{"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/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/amc.2012.6197031","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc.2012.6197031","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","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":14,"referenced_works":["https://openalex.org/W1496777766","https://openalex.org/W1586272545","https://openalex.org/W1900516568","https://openalex.org/W1965640174","https://openalex.org/W2000450224","https://openalex.org/W2014626351","https://openalex.org/W2029632596","https://openalex.org/W2062706881","https://openalex.org/W2077010598","https://openalex.org/W2122477302","https://openalex.org/W2132411220","https://openalex.org/W2134357157","https://openalex.org/W2145744986","https://openalex.org/W6641511952"],"related_works":["https://openalex.org/W152605265","https://openalex.org/W3095489175","https://openalex.org/W2573045761","https://openalex.org/W2791240990","https://openalex.org/W1486209696","https://openalex.org/W4230747644","https://openalex.org/W3169911176","https://openalex.org/W1968617831","https://openalex.org/W1737338109","https://openalex.org/W2165372609"],"abstract_inverted_index":{"Force":[0],"control":[1,29,81,86,93,119],"of":[2,23,42,67,107],"robotic":[3],"manipulators":[4],"is":[5,57,65,88,95,99,115,132,144,156],"becoming":[6],"more":[7,9],"and":[8,50,171],"important":[10],"in":[11,104,133],"applications":[12],"that":[13,178],"involve":[14],"interaction":[15],"with":[16,135,159,169],"the":[17,21,24,40,47,68,80,105,109,129,136,179],"environment.":[18],"Depending":[19],"on":[20,55,149],"nature":[22],"task":[25,41,64],"at":[26],"hand,":[27],"different":[28],"algorithms":[30],"can":[31],"be":[32,35,102],"suitable":[33,100,124],"to":[34,101],"implemented.":[36],"In":[37],"this":[38],"paper":[39],"reaching":[43],"an":[44,116],"object":[45],"by":[46],"robot":[48],"tool":[49,131],"applying":[51],"a":[52,60,150,160,186],"constant":[53],"force":[54,85,92,118,122,126],"it":[56],"considered":[58],"as":[59],"case":[61],"study.":[62],"This":[63],"one":[66,114],"typical":[69],"manipulation":[70],"operations.":[71],"A":[72],"fuzzy":[73,140,181],"logic":[74],"scheduling":[75,142],"approach,":[76],"which":[77,98],"smoothly":[78],"changes":[79],"action":[82],"between":[83,189],"two":[84],"schemes,":[87],"proposed.":[89],"The":[90,112,139,175],"first":[91],"method":[94],"admittance":[96],"control,":[97,123],"used":[103],"phase":[106],"approaching":[108],"work":[110,137,148,173],"piece.":[111,138],"second":[113],"explicit":[117],"strategy,":[120],"integral":[121],"for":[125],"regulation":[127],"when":[128],"manipulator":[130],"contact":[134],"controller":[141,162],"approach":[143],"tested":[145],"via":[146],"experimental":[147],"direct":[151],"drive":[152],"SCARA-type":[153],"manipulator.":[154],"It":[155],"also":[157],"compared":[158],"crisp":[161,187],"switching":[163,188],"method.":[164],"Experiments":[165],"are":[166],"carried":[167],"out":[168],"fixed":[170],"free-to-move":[172],"pieces.":[174],"results":[176],"validate":[177],"proposed":[180],"transition":[182],"has":[183],"advantages":[184],"over":[185],"controllers.":[190]},"counts_by_year":[{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}