{"id":"https://openalex.org/W2100768774","doi":"https://doi.org/10.1109/cca.2008.4629664","title":"Adaptive compensation of dynamic friction in an industrial robot","display_name":"Adaptive compensation of dynamic friction in an industrial robot","publication_year":2008,"publication_date":"2008-01-01","ids":{"openalex":"https://openalex.org/W2100768774","doi":"https://doi.org/10.1109/cca.2008.4629664","mag":"2100768774"},"language":"en","primary_location":{"id":"doi:10.1109/cca.2008.4629664","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2008.4629664","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Control Applications","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/A5006660674","display_name":"Juan C. Mart\u00ednez\u2013Rosas","orcid":null},"institutions":[{"id":"https://openalex.org/I8961855","display_name":"Universidad Nacional Aut\u00f3noma de M\u00e9xico","ror":"https://ror.org/01tmp8f25","country_code":"MX","type":"education","lineage":["https://openalex.org/I8961855"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"Juan C. Martinez-Rosas","raw_affiliation_strings":["Instituto de Ingenier\u00eda;, Universidad Nacional Aut\u00e9noma de M\u00e9xico, Coyoacan, Mexico",", Universidad Nacional Aut\u00e9noma de M\u00e9xico, Coyoacan, Mexico","Instituto de Ingenier\u00eda"],"affiliations":[{"raw_affiliation_string":"Instituto de Ingenier\u00eda;, Universidad Nacional Aut\u00e9noma de M\u00e9xico, Coyoacan, Mexico","institution_ids":["https://openalex.org/I8961855"]},{"raw_affiliation_string":", Universidad Nacional Aut\u00e9noma de M\u00e9xico, Coyoacan, Mexico","institution_ids":["https://openalex.org/I8961855"]},{"raw_affiliation_string":"Instituto de Ingenier\u00eda","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005938346","display_name":"Luis \u00c1lvarez-Icaza","orcid":"https://orcid.org/0000-0001-9516-3950"},"institutions":[{"id":"https://openalex.org/I8961855","display_name":"Universidad Nacional Aut\u00f3noma de M\u00e9xico","ror":"https://ror.org/01tmp8f25","country_code":"MX","type":"education","lineage":["https://openalex.org/I8961855"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Luis Alvarez-Icaza","raw_affiliation_strings":["Instituto de Ingenier\u00eda;, Universidad Nacional Aut\u00e9noma de M\u00e9xico, Coyoacan, Mexico",", Universidad Nacional Aut\u00e9noma de M\u00e9xico, Coyoacan, Mexico","Instituto de Ingenier\u00eda"],"affiliations":[{"raw_affiliation_string":"Instituto de Ingenier\u00eda;, Universidad Nacional Aut\u00e9noma de M\u00e9xico, Coyoacan, Mexico","institution_ids":["https://openalex.org/I8961855"]},{"raw_affiliation_string":", Universidad Nacional Aut\u00e9noma de M\u00e9xico, Coyoacan, Mexico","institution_ids":["https://openalex.org/I8961855"]},{"raw_affiliation_string":"Instituto de Ingenier\u00eda","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5006660674"],"corresponding_institution_ids":["https://openalex.org/I8961855"],"apc_list":null,"apc_paid":null,"fwci":1.8281,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.85947324,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"102","issue":null,"first_page":"1145","last_page":"1150"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9995999932289124,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9995999932289124,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9994999766349792,"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/T10690","display_name":"Vibration Control and Rheological Fluids","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/dynamical-friction","display_name":"Dynamical friction","score":0.7831234931945801},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.7576538324356079},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7269686460494995},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6734169721603394},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.5358511209487915},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5065401792526245},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48852384090423584},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3376067280769348},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2536338269710541},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14481037855148315},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12627610564231873},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11161503195762634}],"concepts":[{"id":"https://openalex.org/C3038340","wikidata":"https://www.wikidata.org/wiki/Q1268968","display_name":"Dynamical friction","level":2,"score":0.7831234931945801},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.7576538324356079},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7269686460494995},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6734169721603394},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.5358511209487915},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5065401792526245},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48852384090423584},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3376067280769348},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2536338269710541},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14481037855148315},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12627610564231873},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11161503195762634},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C44870925","wikidata":"https://www.wikidata.org/wiki/Q37547","display_name":"Astrophysics","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cca.2008.4629664","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2008.4629664","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Control Applications","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321739","display_name":"Consejo Nacional de Ciencia y Tecnolog\u00eda","ror":"https://ror.org/059ex5q34"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1479754040","https://openalex.org/W1496777766","https://openalex.org/W1508147193","https://openalex.org/W1841922822","https://openalex.org/W1997777200","https://openalex.org/W2009600600","https://openalex.org/W2017432759","https://openalex.org/W2058400497","https://openalex.org/W2091881639","https://openalex.org/W2112975018","https://openalex.org/W2121829365","https://openalex.org/W2123775852","https://openalex.org/W2161919100","https://openalex.org/W2166271005","https://openalex.org/W2730095649","https://openalex.org/W3183822261","https://openalex.org/W6630259328"],"related_works":["https://openalex.org/W2379084545","https://openalex.org/W2365687337","https://openalex.org/W2358180351","https://openalex.org/W2392368077","https://openalex.org/W2365082216","https://openalex.org/W2388018705","https://openalex.org/W2362703586","https://openalex.org/W2389641749","https://openalex.org/W2098309481","https://openalex.org/W1517694462"],"abstract_inverted_index":{"A":[0],"new":[1],"dynamic":[2,23,47,76,110],"model":[3,15,49],"to":[4,74,101],"describe":[5],"joint":[6],"friction":[7,24,48,77,111],"in":[8,80],"a":[9,36,44,109],"industrial":[10],"robot":[11],"is":[12,16,33,79,115],"presented.":[13],"This":[14,42,89],"an":[17],"extension":[18],"of":[19,29,56,83,108,119],"the":[20,27,30,53,60,66,81,86,104],"popular":[21],"LuGre":[22],"model.":[25,105],"However,":[26],"description":[28],"Stribeck":[31],"effect":[32],"modeled":[34],"with":[35,72,96],"first":[37],"order":[38,46],"nonlinear":[39],"differential":[40],"equation.":[41],"yields":[43],"second":[45],"that":[50],"still":[51],"preserves":[52],"intuitive":[54],"base":[55],"previous":[57],"models,":[58],"reproduces":[59],"pseudo-steady":[61],"state":[62],"behavior":[63],"and":[64],"offers":[65],"same":[67],"input-output":[68],"properties.":[69],"The":[70,106],"advantage":[71],"respect":[73],"other":[75],"models":[78],"possibility":[82],"identifying":[84],"all":[85],"relevant":[87],"parameters.":[88],"particularly":[90],"important":[91],"when":[92],"this":[93],"parameters":[94],"change":[95],"time":[97],"making":[98],"it":[99],"difficult":[100],"continuously":[102],"calibrate":[103],"validity":[107],"adaptive":[112],"compensation":[113],"scheme":[114],"verified":[116],"by":[117],"means":[118],"experimental":[120],"results.":[121]},"counts_by_year":[{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
