{"id":"https://openalex.org/W3120603282","doi":"https://doi.org/10.1109/icarcv50220.2020.9305495","title":"Control of A 2R Planar Horizontal Underactuated Manipulator","display_name":"Control of A 2R Planar Horizontal Underactuated Manipulator","publication_year":2020,"publication_date":"2020-12-13","ids":{"openalex":"https://openalex.org/W3120603282","doi":"https://doi.org/10.1109/icarcv50220.2020.9305495","mag":"3120603282"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv50220.2020.9305495","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv50220.2020.9305495","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 16th International Conference on Control, Automation, Robotics and Vision (ICARCV)","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/A5100763142","display_name":"Tan Chen","orcid":"https://orcid.org/0000-0001-7751-1392"},"institutions":[{"id":"https://openalex.org/I107639228","display_name":"University of Notre Dame","ror":"https://ror.org/00mkhxb43","country_code":"US","type":"education","lineage":["https://openalex.org/I107639228"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Tan Chen","raw_affiliation_strings":["University of Notre Dame, IN, USA"],"affiliations":[{"raw_affiliation_string":"University of Notre Dame, IN, USA","institution_ids":["https://openalex.org/I107639228"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042951623","display_name":"Bill Goodwine","orcid":"https://orcid.org/0000-0001-5850-4920"},"institutions":[{"id":"https://openalex.org/I107639228","display_name":"University of Notre Dame","ror":"https://ror.org/00mkhxb43","country_code":"US","type":"education","lineage":["https://openalex.org/I107639228"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bill Goodwine","raw_affiliation_strings":["University of Notre Dame, IN, USA"],"affiliations":[{"raw_affiliation_string":"University of Notre Dame, IN, USA","institution_ids":["https://openalex.org/I107639228"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5100763142"],"corresponding_institution_ids":["https://openalex.org/I107639228"],"apc_list":null,"apc_paid":null,"fwci":0.1717,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.48011628,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"7","issue":null,"first_page":"925","last_page":"931"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9990000128746033,"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":0.8690140843391418},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6999574899673462},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6738868355751038},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.6162323951721191},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5425060987472534},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.5417064428329468},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5319643020629883},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5286949872970581},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4826131761074066},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.4637295603752136},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4564935266971588},{"id":"https://openalex.org/keywords/nonlinear-control","display_name":"Nonlinear control","score":0.45499616861343384},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.43731889128685},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3893440365791321},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.3425251245498657},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2692813277244568},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2550538182258606},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23053807020187378},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.16386574506759644},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10250705480575562}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8690140843391418},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6999574899673462},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6738868355751038},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.6162323951721191},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5425060987472534},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.5417064428329468},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5319643020629883},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5286949872970581},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4826131761074066},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.4637295603752136},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4564935266971588},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.45499616861343384},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.43731889128685},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3893440365791321},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.3425251245498657},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2692813277244568},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2550538182258606},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23053807020187378},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.16386574506759644},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10250705480575562},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarcv50220.2020.9305495","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv50220.2020.9305495","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 16th International Conference on Control, Automation, Robotics and Vision (ICARCV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6299999952316284,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G471791421","display_name":null,"funder_award_id":"CMMI-1826079","funder_id":"https://openalex.org/F4320334593","funder_display_name":"Natural Sciences and Engineering Research Council of Canada"}],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W98734704","https://openalex.org/W120243950","https://openalex.org/W1564897360","https://openalex.org/W1941843239","https://openalex.org/W1960096875","https://openalex.org/W1971044547","https://openalex.org/W1977160165","https://openalex.org/W1984363493","https://openalex.org/W1993193703","https://openalex.org/W2017810429","https://openalex.org/W2019820755","https://openalex.org/W2041079378","https://openalex.org/W2041521369","https://openalex.org/W2111683789","https://openalex.org/W2120851686","https://openalex.org/W2121777055","https://openalex.org/W2123789881","https://openalex.org/W2128131727","https://openalex.org/W2161401171","https://openalex.org/W2162654962","https://openalex.org/W2539822070","https://openalex.org/W2968308400","https://openalex.org/W3004281275","https://openalex.org/W3122834177","https://openalex.org/W4288276765","https://openalex.org/W6642962755"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W1485310626","https://openalex.org/W33907905","https://openalex.org/W4285553839","https://openalex.org/W3135469233","https://openalex.org/W2003479292","https://openalex.org/W3175511261","https://openalex.org/W2372055629","https://openalex.org/W2804430586","https://openalex.org/W2088134843"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,12,63,85,105,119],"new":[4],"method":[5,77,87],"for":[6,66],"trajectory":[7,47],"planning":[8],"and":[9,56,60,71,98],"control":[10,92,131],"of":[11,53,95,116,132,141],"2R":[13],"planar":[14],"horizontal":[15],"robotic":[16],"arm":[17],"with":[18,34],"only":[19],"the":[20,51,67,82,93,96,108,114,117,125,133,139,142],"first":[21,43],"joint":[22],"actuated,":[23],"which":[24],"is":[25,41,78,122,135],"known":[26],"to":[27,42,80,91,103,129,137],"be":[28,89],"controllable":[29],"but":[30],"not":[31],"asymptotically":[32],"stabilizable":[33],"smooth":[35],"feedback":[36,120],"controllers.":[37],"The":[38],"main":[39],"idea":[40],"determine":[44,81],"an":[45,75],"admissible":[46],"that":[48],"satisfies":[49],"both":[50],"constraints":[52],"system":[54],"dynamics":[55],"boundary":[57],"value":[58],"conditions,":[59],"then":[61],"design":[62],"feedforward":[64],"controller":[65,121],"system.":[68],"For":[69],"complex":[70],"highly":[72],"nonlinear":[73],"systems,":[74],"optimization":[76,109],"applied":[79],"trajectory.":[83,127],"Moreover,":[84],"time-scaling":[86],"can":[88],"used":[90],"magnitude":[94],"inputs":[97],"also":[99],"make":[100],"it":[101],"easier":[102],"find":[104],"solution":[106],"in":[107],"procedure.":[110],"To":[111],"further":[112],"improve":[113],"robustness":[115],"controller,":[118],"designed":[123],"along":[124],"planned":[126],"Position":[128],"position":[130],"robot":[134],"simulated":[136],"demonstrate":[138],"effectiveness":[140],"method.":[143]},"counts_by_year":[{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}