{"id":"https://openalex.org/W2174385087","doi":"https://doi.org/10.1109/cdc.2002.1184833","title":"Robust nonlinear task space control for a 6 DOF parallel manipulator","display_name":"Robust nonlinear task space control for a 6 DOF parallel manipulator","publication_year":2003,"publication_date":"2003-08-27","ids":{"openalex":"https://openalex.org/W2174385087","doi":"https://doi.org/10.1109/cdc.2002.1184833","mag":"2174385087"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2002.1184833","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2002.1184833","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 41st IEEE Conference on Decision and Control, 2002.","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/A5035736176","display_name":"Hag Seong Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hag Seong Kim","raw_affiliation_strings":["School of Mechanical AeroSpace Engineering, Seoul National University, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical AeroSpace Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103536908","display_name":"Young Man Cho","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Young Man Cho","raw_affiliation_strings":["School of Mechanical AeroSpace Engineering, Seoul National University, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical AeroSpace Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069311700","display_name":"Kyo-Il Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kyo-Il Lee","raw_affiliation_strings":["School of Mechanical AeroSpace Engineering, Seoul National University, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical AeroSpace Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I139264467"],"apc_list":null,"apc_paid":null,"fwci":2.1417,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.87599136,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"2","issue":null,"first_page":"2062","last_page":"2067"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9977999925613403,"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":0.9977999925613403,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9890999794006348,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9872000217437744,"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/control-theory","display_name":"Control theory (sociology)","score":0.807235598564148},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.682679295539856},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6582149863243103},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.5957008600234985},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.4664323627948761},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.37566956877708435},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3715307116508484},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.186649352312088},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15567746758460999},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10385644435882568}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.807235598564148},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.682679295539856},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6582149863243103},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.5957008600234985},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.4664323627948761},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.37566956877708435},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3715307116508484},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.186649352312088},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15567746758460999},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10385644435882568},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2002.1184833","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2002.1184833","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 41st IEEE Conference on Decision and Control, 2002.","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W772783127","https://openalex.org/W1496777766","https://openalex.org/W1596951786","https://openalex.org/W2009600600","https://openalex.org/W2023319687","https://openalex.org/W2091031832","https://openalex.org/W2091881639","https://openalex.org/W2102324059","https://openalex.org/W2109811495","https://openalex.org/W2118773582","https://openalex.org/W2150247872","https://openalex.org/W2152880707","https://openalex.org/W2341668857","https://openalex.org/W4254127125","https://openalex.org/W4256526535","https://openalex.org/W6675420769"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W3185180338","https://openalex.org/W2889348933","https://openalex.org/W2351643838","https://openalex.org/W3033677963"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,9,13,44,130],"robust":[4,104],"nonlinear":[5,105],"controller":[6],"equipped":[7],"with":[8,110,139],"friction":[10,51,59,89,96,112,141],"estimator":[11,113,142],"for":[12,32],"6":[14,28,73],"degree":[15],"of":[16,70],"freedom":[17],"(DOF)":[18],"parallel":[19],"manipulator":[20],"in":[21,53,143],"the":[22,33,54,65,71,103,111,140,144],"task":[23,34,106],"space":[24,35,56,107,146],"coordinates.":[25,147],"The":[26,49,68,88,124],"requisite":[27],"DOF":[29,74],"system":[30],"states":[31],"control":[36,66,108,122,138],"are":[37,91],"acquired":[38],"by":[39],"an":[40,80],"alpha-beta":[41],"tracker":[42],"and":[43,84,120],"numerical":[45],"forward":[46],"kinematic":[47,82],"solution.":[48],"Friedland-Park":[50],"observer":[52],"joint":[55,145],"coordinates":[57],"provides":[58],"estimates":[60,76,90],"that":[61],"help":[62],"to":[63,93,128],"improve":[64],"performance.":[67],"fidelity":[69],"indirect":[72],"state":[75],"is":[77,114],"confirmed":[78],"via":[79],"inverse":[81],"solution":[83],"measured":[85,95],"gyro":[86],"signals.":[87],"compared":[92],"independently":[94],"values,":[97],"which":[98,116],"shows":[99,117],"reasonable":[100],"agreement.":[101],"Finally,":[102],"(RNTC)":[109],"implemented,":[115],"excellent":[118],"tracking":[119],"regulating":[121],"performances.":[123],"RNTC":[125],"turns":[126],"out":[127],"outperform":[129],"popularly":[131],"adopted":[132],"proportional":[133],"plus":[134,136],"integral":[135],"derivative":[137]},"counts_by_year":[{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}