{"id":"https://openalex.org/W4387914532","doi":"https://doi.org/10.1109/codit58514.2023.10284063","title":"Model Predictive Control of a Highly Dynamic Parallel SCARA Robot","display_name":"Model Predictive Control of a Highly Dynamic Parallel SCARA Robot","publication_year":2023,"publication_date":"2023-07-03","ids":{"openalex":"https://openalex.org/W4387914532","doi":"https://doi.org/10.1109/codit58514.2023.10284063"},"language":"en","primary_location":{"id":"doi:10.1109/codit58514.2023.10284063","is_oa":false,"landing_page_url":"https://doi.org/10.1109/codit58514.2023.10284063","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 9th International Conference on Control, Decision and Information Technologies (CoDIT)","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/A5010809063","display_name":"Branimir Mrak","orcid":"https://orcid.org/0000-0002-1949-6574"},"institutions":[{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]}],"countries":["BE"],"is_corresponding":true,"raw_author_name":"Branimir Mrak","raw_affiliation_strings":["DecisionS, Flanders Make,Lommel,Belgium","DecisionS, Flanders Make, Lommel, Belgium"],"affiliations":[{"raw_affiliation_string":"DecisionS, Flanders Make,Lommel,Belgium","institution_ids":["https://openalex.org/I4210116480"]},{"raw_affiliation_string":"DecisionS, Flanders Make, Lommel, Belgium","institution_ids":["https://openalex.org/I4210116480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043240106","display_name":"Taranjitsingh Singh","orcid":"https://orcid.org/0000-0003-3255-3796"},"institutions":[{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Taranjitsingh Singh","raw_affiliation_strings":["DecisionS, Flanders Make,Lommel,Belgium","DecisionS, Flanders Make, Lommel, Belgium"],"affiliations":[{"raw_affiliation_string":"DecisionS, Flanders Make,Lommel,Belgium","institution_ids":["https://openalex.org/I4210116480"]},{"raw_affiliation_string":"DecisionS, Flanders Make, Lommel, Belgium","institution_ids":["https://openalex.org/I4210116480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051281691","display_name":"Quentin Docquier","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Quentin Docquier","raw_affiliation_strings":["DecisionS, Flanders Make,Lommel,Belgium","DecisionS, Flanders Make, Lommel, Belgium"],"affiliations":[{"raw_affiliation_string":"DecisionS, Flanders Make,Lommel,Belgium","institution_ids":["https://openalex.org/I4210116480"]},{"raw_affiliation_string":"DecisionS, Flanders Make, Lommel, Belgium","institution_ids":["https://openalex.org/I4210116480"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5093120776","display_name":"Joris Gilis","orcid":null},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Joris Gilis","raw_affiliation_strings":["KU Leuven,Department of Mechanical Engineering,Belgium","Department of Mechanical Engineering, KU Leuven, Belgium"],"affiliations":[{"raw_affiliation_string":"KU Leuven,Department of Mechanical Engineering,Belgium","institution_ids":["https://openalex.org/I99464096"]},{"raw_affiliation_string":"Department of Mechanical Engineering, KU Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5010809063"],"corresponding_institution_ids":["https://openalex.org/I4210116480"],"apc_list":null,"apc_paid":null,"fwci":0.3752,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.60116809,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"2027","last_page":"2031"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9998999834060669,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9998999834060669,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.982200026512146,"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/T10932","display_name":"Microbial Metabolic Engineering and Bioproduction","score":0.9765999913215637,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/scara","display_name":"SCARA","score":0.9413714408874512},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.8060216307640076},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.6998513340950012},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6765426397323608},{"id":"https://openalex.org/keywords/mechatronics","display_name":"Mechatronics","score":0.6476280689239502},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5700865983963013},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5595716238021851},{"id":"https://openalex.org/keywords/efficient-energy-use","display_name":"Efficient energy use","score":0.4422471523284912},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4377089738845825},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.42702099680900574},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4172770380973816},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2224941849708557},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1431528627872467}],"concepts":[{"id":"https://openalex.org/C158732272","wikidata":"https://www.wikidata.org/wiki/Q1484792","display_name":"SCARA","level":3,"score":0.9413714408874512},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.8060216307640076},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.6998513340950012},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6765426397323608},{"id":"https://openalex.org/C28704281","wikidata":"https://www.wikidata.org/wiki/Q180165","display_name":"Mechatronics","level":2,"score":0.6476280689239502},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5700865983963013},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5595716238021851},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.4422471523284912},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4377089738845825},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.42702099680900574},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4172770380973816},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2224941849708557},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1431528627872467},{"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/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/codit58514.2023.10284063","is_oa":false,"landing_page_url":"https://doi.org/10.1109/codit58514.2023.10284063","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 9th International Conference on Control, Decision and Information Technologies (CoDIT)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.8899999856948853,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320313460","display_name":"Agentschap Innoveren en Ondernemen","ror":"https://ror.org/032xdry56"},{"id":"https://openalex.org/F4320327336","display_name":"Vlaamse regering","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1514056936","https://openalex.org/W2122816609","https://openalex.org/W2130018793","https://openalex.org/W2131588967","https://openalex.org/W2134673975","https://openalex.org/W2135044962","https://openalex.org/W2842089854","https://openalex.org/W4200616514","https://openalex.org/W7065631163"],"related_works":["https://openalex.org/W122469368","https://openalex.org/W4238798220","https://openalex.org/W2945074068","https://openalex.org/W2475425029","https://openalex.org/W3201918386","https://openalex.org/W2495868881","https://openalex.org/W2467617359","https://openalex.org/W4252287176","https://openalex.org/W2691078541","https://openalex.org/W2490659911"],"abstract_inverted_index":{"Mechatronic":[0],"application":[1],"operating":[2],"in":[3,43,95,123,134],"dynamic":[4,64],"and":[5,120],"unstructured":[6],"environment":[7],"can":[8,73],"benefit":[9,74],"greatly":[10],"from":[11,75],"use":[12,77],"of":[13,27,52,78,84,130],"online":[14],"optimization":[15],"i.e.":[16],"non-linear":[17],"model":[18],"predictive":[19],"control":[20],"(NLMPC).":[21],"Unfortunately,":[22],"the":[23,76,79,103,115,121],"deterministic":[24],"time":[25],"implementation":[26,51],"NL-MPC":[28,54],"on":[29,61],"typical":[30],"industrial":[31,117],"automation":[32,118],"hardware":[33],"remains":[34],"an":[35,50,53,128],"open":[36],"challenge,":[37],"as":[38,40,68],"well":[39],"guaranteeing":[41],"performance":[42,110,124],"full":[44],"operational":[45],"behaviour.":[46],"This":[47],"article":[48],"documents":[49],"tool-chain.":[55],"The":[56,107],"developed":[57],"methods":[58],"are":[59],"used":[60],"a":[62,69],"highly":[63],"parallel":[65],"SCARA":[66],"robot":[67],"performant":[70],"example":[71],"that":[72],"proposed":[80],"approach.":[81],"Through":[82],"us":[83],"NL-MPC,":[85],"energy":[86,135],"optimal":[87],"path":[88],"planning":[89],"is":[90,111,125],"demonstrated":[91],"to":[92,114,132],"operate":[93],"robustly":[94],"all":[96],"defined":[97],"experimental":[98],"conditions,":[99],"while":[100],"not":[101],"violating":[102],"prescribed":[104],"computational":[105],"time.":[106],"resulting":[108],"system":[109],"then":[112],"benchmarked":[113],"conventional":[116],"solution,":[119],"improvement":[122,129],"highlighted":[126],"showing":[127],"up":[131],"36%":[133],"efficiency.":[136]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}