{"id":"https://openalex.org/W1906599704","doi":"https://doi.org/10.1109/cca.2015.7320767","title":"Residual vibration suppression of planar robotic manipulators using trapezoidal/S-curve based velocity profiles","display_name":"Residual vibration suppression of planar robotic manipulators using trapezoidal/S-curve based velocity profiles","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W1906599704","doi":"https://doi.org/10.1109/cca.2015.7320767","mag":"1906599704"},"language":"en","primary_location":{"id":"doi:10.1109/cca.2015.7320767","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2015.7320767","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE Conference on Control Applications (CCA)","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/A5090411668","display_name":"Jan El Hussein","orcid":null},"institutions":[{"id":"https://openalex.org/I15057530","display_name":"Universit\u00e9 de Bordeaux","ror":"https://ror.org/057qpr032","country_code":"FR","type":"education","lineage":["https://openalex.org/I15057530"]},{"id":"https://openalex.org/I4210160494","display_name":"Tatematsu Foundation","ror":"https://ror.org/05jraf368","country_code":"JP","type":"other","lineage":["https://openalex.org/I4210160494"]}],"countries":["FR","JP"],"is_corresponding":false,"raw_author_name":"Jan El Hussein","raw_affiliation_strings":["University of Bordeaux, Talence, France","Tatematsu Foundation, Kariya, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bordeaux, Talence, France","institution_ids":["https://openalex.org/I15057530"]},{"raw_affiliation_string":"Tatematsu Foundation, Kariya, Japan","institution_ids":["https://openalex.org/I4210160494"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062939314","display_name":"Naoki Uchiyama","orcid":"https://orcid.org/0000-0003-3642-9944"},"institutions":[{"id":"https://openalex.org/I15057530","display_name":"Universit\u00e9 de Bordeaux","ror":"https://ror.org/057qpr032","country_code":"FR","type":"education","lineage":["https://openalex.org/I15057530"]},{"id":"https://openalex.org/I4210160494","display_name":"Tatematsu Foundation","ror":"https://ror.org/05jraf368","country_code":"JP","type":"other","lineage":["https://openalex.org/I4210160494"]}],"countries":["FR","JP"],"is_corresponding":false,"raw_author_name":"Naoki Uchiyama","raw_affiliation_strings":["University of Bordeaux, Talence, France","Tatematsu Foundation, Kariya, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bordeaux, Talence, France","institution_ids":["https://openalex.org/I15057530"]},{"raw_affiliation_string":"Tatematsu Foundation, Kariya, Japan","institution_ids":["https://openalex.org/I4210160494"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110704871","display_name":"Shigenori Sano","orcid":null},"institutions":[{"id":"https://openalex.org/I15057530","display_name":"Universit\u00e9 de Bordeaux","ror":"https://ror.org/057qpr032","country_code":"FR","type":"education","lineage":["https://openalex.org/I15057530"]},{"id":"https://openalex.org/I4210160494","display_name":"Tatematsu Foundation","ror":"https://ror.org/05jraf368","country_code":"JP","type":"other","lineage":["https://openalex.org/I4210160494"]}],"countries":["FR","JP"],"is_corresponding":false,"raw_author_name":"Shigenori Sano","raw_affiliation_strings":["University of Bordeaux, Talence, France","Tatematsu Foundation, Kariya, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bordeaux, Talence, France","institution_ids":["https://openalex.org/I15057530"]},{"raw_affiliation_string":"Tatematsu Foundation, Kariya, Japan","institution_ids":["https://openalex.org/I4210160494"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054507125","display_name":"Oliver Sawodny","orcid":"https://orcid.org/0000-0002-6910-2473"},"institutions":[{"id":"https://openalex.org/I15057530","display_name":"Universit\u00e9 de Bordeaux","ror":"https://ror.org/057qpr032","country_code":"FR","type":"education","lineage":["https://openalex.org/I15057530"]},{"id":"https://openalex.org/I4210160494","display_name":"Tatematsu Foundation","ror":"https://ror.org/05jraf368","country_code":"JP","type":"other","lineage":["https://openalex.org/I4210160494"]}],"countries":["FR","JP"],"is_corresponding":false,"raw_author_name":"Oliver Sawodny","raw_affiliation_strings":["University of Bordeaux, Talence, France","Tatematsu Foundation, Kariya, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bordeaux, Talence, France","institution_ids":["https://openalex.org/I15057530"]},{"raw_affiliation_string":"Tatematsu Foundation, Kariya, Japan","institution_ids":["https://openalex.org/I4210160494"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"67","issue":null,"first_page":"1148","last_page":"1153"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994000196456909,"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":0.9994000196456909,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9988999962806702,"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/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9811999797821045,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/vibration","display_name":"Vibration","score":0.7968560457229614},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.7495976686477661},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7234809994697571},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6036847233772278},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.6036678552627563},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.5795872211456299},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5398949384689331},{"id":"https://openalex.org/keywords/input-shaping","display_name":"Input shaping","score":0.4697552025318146},{"id":"https://openalex.org/keywords/vibration-control","display_name":"Vibration control","score":0.4554878771305084},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42780613899230957},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4259897470474243},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.38677388429641724},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.3314892649650574},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18946191668510437},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1364269256591797},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13001000881195068},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.06768587231636047}],"concepts":[{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.7968560457229614},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.7495976686477661},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7234809994697571},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6036847233772278},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.6036678552627563},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.5795872211456299},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5398949384689331},{"id":"https://openalex.org/C2778512855","wikidata":"https://www.wikidata.org/wiki/Q6036808","display_name":"Input shaping","level":4,"score":0.4697552025318146},{"id":"https://openalex.org/C49240428","wikidata":"https://www.wikidata.org/wiki/Q3305953","display_name":"Vibration control","level":3,"score":0.4554878771305084},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42780613899230957},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4259897470474243},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.38677388429641724},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.3314892649650574},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18946191668510437},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1364269256591797},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13001000881195068},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.06768587231636047},{"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cca.2015.7320767","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2015.7320767","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE Conference on Control Applications (CCA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.8899999856948853}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1604620969","https://openalex.org/W1965448498","https://openalex.org/W1981613356","https://openalex.org/W1999177683","https://openalex.org/W2014888804","https://openalex.org/W2025939589","https://openalex.org/W2062691475","https://openalex.org/W2089745805","https://openalex.org/W2121664565","https://openalex.org/W2127547788","https://openalex.org/W6636159859"],"related_works":["https://openalex.org/W2386408459","https://openalex.org/W59441132","https://openalex.org/W3200772726","https://openalex.org/W1498158497","https://openalex.org/W1534750456","https://openalex.org/W2125082648","https://openalex.org/W2157380773","https://openalex.org/W2283715810","https://openalex.org/W2151998733","https://openalex.org/W2032537850"],"abstract_inverted_index":{"Robotic":[0],"manipulators":[1],"are":[2],"widely":[3],"used":[4],"in":[5],"different":[6],"sectors":[7],"of":[8,14,38,75,87,95],"industry.":[9],"Due":[10],"to":[11,101],"material":[12],"elasticity":[13],"its":[15],"components,":[16],"vibration":[17,59,74,108],"often":[18],"occurs,":[19],"which":[20,56],"can":[21],"increase":[22],"cycle":[23],"time,":[24],"mechanical":[25],"wear":[26],"and":[27,41,119],"energy":[28],"consumption.":[29],"We":[30,91],"provide":[31],"analytic":[32],"conditions":[33],"for":[34,45,71,114,123],"the":[35,58,63,73,76,85,88,93,96,115,124],"acceleration":[36],"time":[37],"a":[39,67,102],"trapezoidal":[40,116],"S-curve":[42],"velocity":[43,89,117],"profile":[44,118],"suppressing":[46],"residual":[47,107],"vibration.":[48],"Based":[49],"on":[50],"this,":[51],"we":[52,65],"present":[53],"several":[54],"trajectories":[55],"improve":[57],"suppression":[60],"performance":[61],"For":[62],"derivation,":[64],"introduce":[66],"simple":[68],"linear":[69],"model":[70],"describing":[72],"robotic":[77],"manipulator.":[78,105],"The":[79,106],"applicability":[80],"is":[81,109],"investigated":[82],"by":[83,99,111,120],"evaluating":[84],"robustness":[86],"profiles.":[90,126],"verify":[92],"effectiveness":[94],"proposed":[97],"profiles":[98],"application":[100],"planar":[103],"3R":[104],"reduced":[110],"around":[112],"50%":[113],"over":[121],"90%":[122],"extended":[125]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
