{"id":"https://openalex.org/W2503149995","doi":"https://doi.org/10.1109/aqtr.2016.7501318","title":"Development of a control system for a HEXA parallel robot","display_name":"Development of a control system for a HEXA parallel robot","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2503149995","doi":"https://doi.org/10.1109/aqtr.2016.7501318","mag":"2503149995"},"language":"en","primary_location":{"id":"doi:10.1109/aqtr.2016.7501318","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aqtr.2016.7501318","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR)","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/A5082014108","display_name":"C\u0103lin Vaida","orcid":"https://orcid.org/0000-0003-2822-9790"},"institutions":[{"id":"https://openalex.org/I158333966","display_name":"Technical University of Cluj-Napoca","ror":"https://ror.org/03r8nwp71","country_code":"RO","type":"education","lineage":["https://openalex.org/I158333966"]}],"countries":["RO"],"is_corresponding":false,"raw_author_name":"Calin Vaida","raw_affiliation_strings":["CESTER - Research Center for Industrial Robots Simulation and Testing, Tehnical University of Cluj-Napoca"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CESTER - Research Center for Industrial Robots Simulation and Testing, Tehnical University of Cluj-Napoca","institution_ids":["https://openalex.org/I158333966"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074942370","display_name":"Doina P\u00eesl\u0103","orcid":"https://orcid.org/0000-0001-7014-9431"},"institutions":[{"id":"https://openalex.org/I158333966","display_name":"Technical University of Cluj-Napoca","ror":"https://ror.org/03r8nwp71","country_code":"RO","type":"education","lineage":["https://openalex.org/I158333966"]}],"countries":["RO"],"is_corresponding":false,"raw_author_name":"Doina Pisla","raw_affiliation_strings":["CESTER - Research Center for Industrial Robots Simulation and Testing, Tehnical University of Cluj-Napoca"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CESTER - Research Center for Industrial Robots Simulation and Testing, Tehnical University of Cluj-Napoca","institution_ids":["https://openalex.org/I158333966"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091051276","display_name":"Florin Covaciu","orcid":"https://orcid.org/0000-0002-0079-431X"},"institutions":[{"id":"https://openalex.org/I158333966","display_name":"Technical University of Cluj-Napoca","ror":"https://ror.org/03r8nwp71","country_code":"RO","type":"education","lineage":["https://openalex.org/I158333966"]}],"countries":["RO"],"is_corresponding":false,"raw_author_name":"Florin Covaciu","raw_affiliation_strings":["CESTER - Research Center for Industrial Robots Simulation and Testing, Tehnical University of Cluj-Napoca"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CESTER - Research Center for Industrial Robots Simulation and Testing, Tehnical University of Cluj-Napoca","institution_ids":["https://openalex.org/I158333966"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043172047","display_name":"Bogdan Gherman","orcid":"https://orcid.org/0000-0002-4427-6231"},"institutions":[{"id":"https://openalex.org/I158333966","display_name":"Technical University of Cluj-Napoca","ror":"https://ror.org/03r8nwp71","country_code":"RO","type":"education","lineage":["https://openalex.org/I158333966"]}],"countries":["RO"],"is_corresponding":false,"raw_author_name":"Bogdan Gherman","raw_affiliation_strings":["CESTER - Research Center for Industrial Robots Simulation and Testing, Tehnical University of Cluj-Napoca"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CESTER - Research Center for Industrial Robots Simulation and Testing, Tehnical University of Cluj-Napoca","institution_ids":["https://openalex.org/I158333966"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019993026","display_name":"Adrian P\u00eesl\u0103","orcid":"https://orcid.org/0000-0002-5531-6913"},"institutions":[{"id":"https://openalex.org/I158333966","display_name":"Technical University of Cluj-Napoca","ror":"https://ror.org/03r8nwp71","country_code":"RO","type":"education","lineage":["https://openalex.org/I158333966"]}],"countries":["RO"],"is_corresponding":false,"raw_author_name":"Adrian Pisla","raw_affiliation_strings":["CESTER - Research Center for Industrial Robots Simulation and Testing, Tehnical University of Cluj-Napoca"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CESTER - Research Center for Industrial Robots Simulation and Testing, Tehnical University of Cluj-Napoca","institution_ids":["https://openalex.org/I158333966"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058639468","display_name":"Nicolae Plitea","orcid":"https://orcid.org/0000-0002-2318-600X"},"institutions":[{"id":"https://openalex.org/I158333966","display_name":"Technical University of Cluj-Napoca","ror":"https://ror.org/03r8nwp71","country_code":"RO","type":"education","lineage":["https://openalex.org/I158333966"]}],"countries":["RO"],"is_corresponding":false,"raw_author_name":"Nicolae Plitea","raw_affiliation_strings":["CESTER - Research Center for Industrial Robots Simulation and Testing, Tehnical University of Cluj-Napoca"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CESTER - Research Center for Industrial Robots Simulation and Testing, Tehnical University of Cluj-Napoca","institution_ids":["https://openalex.org/I158333966"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.6202,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.84854191,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","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/T10571","display_name":"Robotic Mechanisms and Dynamics","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/T10868","display_name":"Soft Robotics and Applications","score":0.991100013256073,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9879999756813049,"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/payload","display_name":"Payload (computing)","score":0.7016669511795044},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6800531148910522},{"id":"https://openalex.org/keywords/hexa","display_name":"HEXA","score":0.6362314820289612},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.6260516047477722},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.5245654582977295},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5188404321670532},{"id":"https://openalex.org/keywords/snake-arm-robot","display_name":"Snake-arm robot","score":0.5104483366012573},{"id":"https://openalex.org/keywords/cartesian-coordinate-robot","display_name":"Cartesian coordinate robot","score":0.5093427896499634},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4694618284702301},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.450494647026062},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.426421195268631},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.4222587049007416},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3481413722038269},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3330310881137848},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3079422414302826},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20983058214187622}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.7016669511795044},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6800531148910522},{"id":"https://openalex.org/C97343561","wikidata":"https://www.wikidata.org/wiki/Q18026873","display_name":"HEXA","level":2,"score":0.6362314820289612},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.6260516047477722},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.5245654582977295},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5188404321670532},{"id":"https://openalex.org/C107863493","wikidata":"https://www.wikidata.org/wiki/Q1428288","display_name":"Snake-arm robot","level":5,"score":0.5104483366012573},{"id":"https://openalex.org/C118635694","wikidata":"https://www.wikidata.org/wiki/Q3268064","display_name":"Cartesian coordinate robot","level":5,"score":0.5093427896499634},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4694618284702301},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.450494647026062},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.426421195268631},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.4222587049007416},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3481413722038269},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3330310881137848},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3079422414302826},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20983058214187622},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C155647269","wikidata":"https://www.wikidata.org/wiki/Q243455","display_name":"Medicinal chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aqtr.2016.7501318","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aqtr.2016.7501318","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.7200000286102295,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":5,"referenced_works":["https://openalex.org/W1501918032","https://openalex.org/W1998176723","https://openalex.org/W2108366832","https://openalex.org/W2108898709","https://openalex.org/W2243341171"],"related_works":["https://openalex.org/W2160983430","https://openalex.org/W2974577080","https://openalex.org/W1879261740","https://openalex.org/W153208564","https://openalex.org/W2043736113","https://openalex.org/W4386618377","https://openalex.org/W2140139034","https://openalex.org/W2997199187","https://openalex.org/W2383606721","https://openalex.org/W2523661414"],"abstract_inverted_index":{"A":[0],"new":[1,68],"control":[2,15,27,69,92],"architecture":[3],"for":[4,28,90],"the":[5,21,33,37,72,77,83,91],"HEXA":[6,38,41],"parallel":[7],"robot":[8,22,42,50],"is":[9,17,43],"presented":[10],"in":[11],"this":[12],"paper.":[13],"The":[14,40,67],"algorithm":[16],"implemented":[18],"directly":[19],"into":[20],"PLC":[23],"to":[24],"allow":[25],"real-time":[26],"complex":[29],"trajectories":[30],"which":[31,52,81],"ensures":[32],"safe":[34],"behavior":[35,62],"of":[36,47,85,93],"robot.":[39],"a":[44,86],"six":[45],"degrees":[46],"freedom":[48],"fully-parallel":[49],"structure":[51,89],"could":[53],"provide":[54],"high":[55],"stiffness":[56],"and":[57,63,76],"accuracy,":[58],"very":[59],"good":[60],"dynamic":[61],"efficient":[64],"payload":[65],"capacity.":[66],"system":[70,74],"uses":[71],"communication":[73],"POWERLINK":[75],"programming":[78],"standard":[79],"PLCOpen":[80],"enabled":[82],"setup":[84],"generalized":[87],"basic":[88],"any":[94],"6-axes":[95],"robotic":[96],"structure.":[97]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2019,"cited_by_count":6}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}