{"id":"https://openalex.org/W3098142571","doi":"https://doi.org/10.1109/crc51253.2020.9253487","title":"Trajectory Tracking Control of a 3-DOF Planar Wire-Driven Robot","display_name":"Trajectory Tracking Control of a 3-DOF Planar Wire-Driven Robot","publication_year":2020,"publication_date":"2020-10-16","ids":{"openalex":"https://openalex.org/W3098142571","doi":"https://doi.org/10.1109/crc51253.2020.9253487","mag":"3098142571"},"language":"en","primary_location":{"id":"doi:10.1109/crc51253.2020.9253487","is_oa":false,"landing_page_url":"https://doi.org/10.1109/crc51253.2020.9253487","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 5th International Conference on Control, Robotics and Cybernetics (CRC)","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/A5089276114","display_name":"Pan Liu","orcid":"https://orcid.org/0000-0003-1824-441X"},"institutions":[{"id":"https://openalex.org/I4210138186","display_name":"Wuhan National Laboratory for Optoelectronics","ror":"https://ror.org/03c9ncn37","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210138186"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Pan Liu","raw_affiliation_strings":["Wuhan National Laboratory for Optoelectronics, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"Wuhan National Laboratory for Optoelectronics, Wuhan, China","institution_ids":["https://openalex.org/I4210138186"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087693217","display_name":"Zhiqing Xia","orcid":null},"institutions":[{"id":"https://openalex.org/I4210138186","display_name":"Wuhan National Laboratory for Optoelectronics","ror":"https://ror.org/03c9ncn37","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210138186"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiqing Xia","raw_affiliation_strings":["Wuhan National Laboratory for Optoelectronics, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"Wuhan National Laboratory for Optoelectronics, Wuhan, China","institution_ids":["https://openalex.org/I4210138186"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5089276114"],"corresponding_institution_ids":["https://openalex.org/I4210138186"],"apc_list":null,"apc_paid":null,"fwci":0.1471,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.46936546,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"39","issue":null,"first_page":"226","last_page":"229"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","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/T10571","display_name":"Robotic Mechanisms and Dynamics","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/T10868","display_name":"Soft Robotics and Applications","score":0.9987999796867371,"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9983000159263611,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7650763988494873},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6648315191268921},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5996717214584351},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5446363091468811},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5005590915679932},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.49253520369529724},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49092987179756165},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4434252977371216},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4365127384662628},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4340791702270508},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.41869181394577026},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4039137661457062},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.34783363342285156},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32494229078292847},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19621604681015015},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17000305652618408},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10036629438400269}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7650763988494873},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6648315191268921},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5996717214584351},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5446363091468811},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5005590915679932},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.49253520369529724},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49092987179756165},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4434252977371216},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4365127384662628},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4340791702270508},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.41869181394577026},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4039137661457062},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.34783363342285156},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32494229078292847},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19621604681015015},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17000305652618408},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10036629438400269},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/crc51253.2020.9253487","is_oa":false,"landing_page_url":"https://doi.org/10.1109/crc51253.2020.9253487","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 5th International Conference on Control, Robotics and Cybernetics (CRC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.7900000214576721,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W41378562","https://openalex.org/W1967030176","https://openalex.org/W1985121850","https://openalex.org/W2003360230","https://openalex.org/W2014694653","https://openalex.org/W2095631872","https://openalex.org/W2101171552","https://openalex.org/W2134252356","https://openalex.org/W2314362573","https://openalex.org/W2424267742"],"related_works":["https://openalex.org/W2762381663","https://openalex.org/W1886477626","https://openalex.org/W4385196987","https://openalex.org/W1540467731","https://openalex.org/W218732962","https://openalex.org/W2538037439","https://openalex.org/W4317826762","https://openalex.org/W2741909783","https://openalex.org/W1979383880","https://openalex.org/W1532677580"],"abstract_inverted_index":{"Wire-direct-driven":[0],"robots":[1,62],"are":[2],"a":[3,11,72],"type":[4],"of":[5,45,66,103,116],"parallel":[6],"manipulator.":[7],"In":[8],"this":[9,19],"paper,":[10],"3-dof":[12],"planar":[13],"wire-driven":[14,61],"robot":[15,20,50,107],"is":[16,28,53,77,87,97,110,125],"stated.":[17],"Taking":[18],"as":[21],"the":[22,25,43,49,56,64,81,90,101,106,122,129],"research":[23,27],"object,":[24],"comprehensive":[26],"made":[29],"on":[30,42,89],"how":[31],"to":[32,79,99],"maintain":[33],"all":[34,39],"wire":[35],"tensions":[36],"positive":[37],"for":[38],"motion.":[40],"Based":[41],"idea":[44],"force/position":[46],"hybrid":[47],"control,":[48],"dynamics":[51],"equation":[52],"established":[54],"using":[55],"Newton-Euler":[57],"method.":[58],"Considering":[59],"that":[60,121],"have":[63,119],"characteristics":[65],"nonlinearity,":[67],"strong":[68,133],"coupling":[69],"and":[70,112,128],"MIMO,":[71],"sliding":[73],"mode":[74],"control":[75,85,108,130],"algorithm":[76],"utilized":[78],"realize":[80],"trajectory":[82],"tracking.":[83],"The":[84,114],"principle":[86],"based":[88],"exponential":[91],"approach":[92],"law.":[93],"A":[94],"saturation":[95],"function":[96],"introduced":[98],"solve":[100],"problem":[102],"chattering.":[104],"Finally":[105],"system":[109,131],"simulated":[111],"analyzed.":[113],"results":[115],"simulation":[117],"experiments":[118],"shown":[120],"tracking":[123],"accuracy":[124],"much":[126],"better":[127],"has":[132],"robustness.":[134]},"counts_by_year":[{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
