{"id":"https://openalex.org/W4220882187","doi":"https://doi.org/10.1109/amc51637.2022.9729321","title":"Performance Evaluation of Force Control and Reaction Force Estimation in Force Sensorless Hybrid Control for Workspace Based Controller","display_name":"Performance Evaluation of Force Control and Reaction Force Estimation in Force Sensorless Hybrid Control for Workspace Based Controller","publication_year":2022,"publication_date":"2022-02-18","ids":{"openalex":"https://openalex.org/W4220882187","doi":"https://doi.org/10.1109/amc51637.2022.9729321"},"language":"en","primary_location":{"id":"doi:10.1109/amc51637.2022.9729321","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc51637.2022.9729321","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 17th International Conference on Advanced Motion Control (AMC)","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/A5018288353","display_name":"Keita Shimamoto","orcid":"https://orcid.org/0000-0002-3139-7413"},"institutions":[{"id":"https://openalex.org/I119487337","display_name":"Yaskawa Electric (Japan)","ror":"https://ror.org/037qwc103","country_code":"JP","type":"company","lineage":["https://openalex.org/I119487337"]},{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Keita Shimamoto","raw_affiliation_strings":["YASKAWA Electric Corporation,Tsukuba Research Laboratory,Ibaraki,Japan","Graduate School of Science and Technology, Keio University, Yokohama, Japan","Tsukuba Research Laboratory, YASKAWA Electric Corporation, Ibaraki, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"YASKAWA Electric Corporation,Tsukuba Research Laboratory,Ibaraki,Japan","institution_ids":["https://openalex.org/I119487337"]},{"raw_affiliation_string":"Graduate School of Science and Technology, Keio University, Yokohama, Japan","institution_ids":["https://openalex.org/I203951103"]},{"raw_affiliation_string":"Tsukuba Research Laboratory, YASKAWA Electric Corporation, Ibaraki, Japan","institution_ids":["https://openalex.org/I119487337"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076792354","display_name":"Toshiyuki Murakami","orcid":"https://orcid.org/0000-0001-8611-9755"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Toshiyuki Murakami","raw_affiliation_strings":["Keio University,Department of System Design Engineering,Yokohama,Japan","Department of System Design Engineering, Keio University, Yokohama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Keio University,Department of System Design Engineering,Yokohama,Japan","institution_ids":["https://openalex.org/I203951103"]},{"raw_affiliation_string":"Department of System Design Engineering, Keio University, Yokohama, Japan","institution_ids":["https://openalex.org/I203951103"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.199,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.42155255,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"1714","issue":null,"first_page":"231","last_page":"236"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998000264167786,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9914000034332275,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9514999985694885,"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/workspace","display_name":"Workspace","score":0.8677724599838257},{"id":"https://openalex.org/keywords/reaction","display_name":"Reaction","score":0.7852609753608704},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7770833969116211},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.6006482243537903},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5089161396026611},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5083369612693787},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.504252552986145},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4455931484699249},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3997548818588257},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3105303943157196},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3033558130264282},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2444813847541809},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10562372207641602},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08994540572166443},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.06911841034889221}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8677724599838257},{"id":"https://openalex.org/C99664630","wikidata":"https://www.wikidata.org/wiki/Q343546","display_name":"Reaction","level":2,"score":0.7852609753608704},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7770833969116211},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.6006482243537903},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5089161396026611},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5083369612693787},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.504252552986145},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4455931484699249},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3997548818588257},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3105303943157196},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3033558130264282},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2444813847541809},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10562372207641602},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08994540572166443},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.06911841034889221},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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},{"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/amc51637.2022.9729321","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc51637.2022.9729321","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 17th International Conference on Advanced Motion Control (AMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.8199999928474426,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1526742439","https://openalex.org/W1820591418","https://openalex.org/W1966045061","https://openalex.org/W2026992001","https://openalex.org/W2096323098","https://openalex.org/W2102279668","https://openalex.org/W2126034408","https://openalex.org/W2281023482","https://openalex.org/W3046700210","https://openalex.org/W3120689270","https://openalex.org/W3128907628"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2139993144","https://openalex.org/W2161214141","https://openalex.org/W2326117494","https://openalex.org/W2102645302","https://openalex.org/W2153327331","https://openalex.org/W2093105581","https://openalex.org/W2093958626"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,38,41,56,59,62,66,77,82,116,119,124],"performance":[4],"evaluation":[5],"of":[6,58,84,118],"force":[7,11,14,28,34],"control":[8,18,89,93,101,132],"and":[9,40,72,111,126],"reaction":[10,27,33,44],"estimation":[12,29,78,127],"in":[13,37,48,91,129],"sensorless":[15],"workspace-based":[16,63,88],"hybrid":[17,131],"for":[19,138],"multi-degrees-of":[20],"freedom":[21],"(MDOF)":[22],"robots.":[23],"There":[24],"are":[25],"two":[26],"methods.":[30],"One":[31],"is":[32,43],"observer":[35,46],"(RFOB)":[36],"workspace,":[39],"other":[42],"torque":[45],"(RTOB)":[47],"joint":[49],"coordinate":[50,53],"space":[51],"with":[52],"transformation.":[54],"Considering":[55],"characteristics":[57,90],"machine":[60],"dynamics,":[61],"controller":[64],"uses":[65],"equivalent":[67,120],"mass":[68,121],"matrices.":[69,86],"As":[70],"RFOB":[71],"RTOB":[73],"use":[74],"these":[75,85],"matrices,":[76],"accuracy":[79,83],"depends":[80],"on":[81,99,135],"Conventionally,":[87],"MODF":[92],"systems":[94,102,133],"have":[95],"been":[96],"considered":[97],"based":[98],"one-degree-of-freedom":[100],"or":[103,140],"human-in-the-loop":[104],"teleoperation":[105],"systems.":[106],"In":[107],"this":[108],"paper,":[109],"equations":[110],"experimental":[112],"results":[113],"show":[114],"how":[115],"setting":[117],"matrix":[122],"affects":[123],"interference":[125],"error":[128],"MDOF":[130],"focusing":[134],"rubbing":[136],"motion":[137],"polishing":[139],"wiping.":[141]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
