{"id":"https://openalex.org/W1630001458","doi":"https://doi.org/10.1109/icinfa.2015.7279827","title":"Active gravity compensation test bed for a six-DOF free-flying robot","display_name":"Active gravity compensation test bed for a six-DOF free-flying robot","publication_year":2015,"publication_date":"2015-08-01","ids":{"openalex":"https://openalex.org/W1630001458","doi":"https://doi.org/10.1109/icinfa.2015.7279827","mag":"1630001458"},"language":"en","primary_location":{"id":"doi:10.1109/icinfa.2015.7279827","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2015.7279827","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Information and Automation","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/A5100718008","display_name":"Lifang Li","orcid":"https://orcid.org/0000-0003-4119-1301"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Lifang Li","raw_affiliation_strings":["Research Center of Basic Space Science, Harbin Institute of Technology, Harbin, China","Research Center of Basic Space Science, Harbin Institute of Technology, 150080, China"],"affiliations":[{"raw_affiliation_string":"Research Center of Basic Space Science, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Research Center of Basic Space Science, Harbin Institute of Technology, 150080, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100617483","display_name":"Zongquan Deng","orcid":"https://orcid.org/0000-0003-2432-8329"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zongquan Deng","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","State Key Laboratory of Robotics and System, Harbin Institute of Technology, 150080 China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, 150080 China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033616367","display_name":"Haibo Gao","orcid":"https://orcid.org/0000-0002-6501-656X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haibo Gao","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","State Key Laboratory of Robotics and System, Harbin Institute of Technology, 150080 China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, 150080 China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056181711","display_name":"Pengzhen Guo","orcid":"https://orcid.org/0000-0001-6781-5325"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pengzhen Guo","raw_affiliation_strings":["Department of Physics, Harbin Institute of Technology, Harbin, China","Department of Physics, Harbin Institute of Technology, 150080, China"],"affiliations":[{"raw_affiliation_string":"Department of Physics, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Department of Physics, Harbin Institute of Technology, 150080, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100718008"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":6.3226,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.97204683,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"3135","last_page":"3140"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9988999962806702,"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"}},"topics":[{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9988999962806702,"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/T14214","display_name":"Space Exploration and Technology","score":0.9976999759674072,"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/T10406","display_name":"Planetary Science and Exploration","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6941481828689575},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.639397919178009},{"id":"https://openalex.org/keywords/pulley","display_name":"Pulley","score":0.6298655271530151},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5887542963027954},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5578354001045227},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5329433679580688},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.49770334362983704},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4277106523513794},{"id":"https://openalex.org/keywords/tension","display_name":"Tension (geology)","score":0.4155951738357544},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3961286246776581},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.38277575373649597},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.30701443552970886},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.23892629146575928},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.20904722809791565},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.1665360927581787},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09921011328697205}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6941481828689575},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.639397919178009},{"id":"https://openalex.org/C171937826","wikidata":"https://www.wikidata.org/wiki/Q48378","display_name":"Pulley","level":2,"score":0.6298655271530151},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5887542963027954},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5578354001045227},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5329433679580688},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.49770334362983704},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4277106523513794},{"id":"https://openalex.org/C186068551","wikidata":"https://www.wikidata.org/wiki/Q13255585","display_name":"Tension (geology)","level":3,"score":0.4155951738357544},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3961286246776581},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38277575373649597},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.30701443552970886},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.23892629146575928},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.20904722809791565},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.1665360927581787},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09921011328697205},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icinfa.2015.7279827","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2015.7279827","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Information and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320309369","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W87725950","https://openalex.org/W2006798202","https://openalex.org/W2044875588","https://openalex.org/W2054584489","https://openalex.org/W2116167667","https://openalex.org/W2138123461","https://openalex.org/W2141038839","https://openalex.org/W2143884046","https://openalex.org/W2153056680","https://openalex.org/W2157022434","https://openalex.org/W2359058458","https://openalex.org/W2390457905","https://openalex.org/W3026466276","https://openalex.org/W6603538279","https://openalex.org/W6676966686","https://openalex.org/W6680843666","https://openalex.org/W7061686246"],"related_works":["https://openalex.org/W2584009865","https://openalex.org/W627732446","https://openalex.org/W2129385547","https://openalex.org/W2384140996","https://openalex.org/W2213498975","https://openalex.org/W2059706327","https://openalex.org/W2181541019","https://openalex.org/W2111449477","https://openalex.org/W2895508245","https://openalex.org/W4317438421"],"abstract_inverted_index":{"A":[0],"novel":[1],"active":[2,66,76],"gravity":[3,134,159],"compensation":[4,135,144,160],"concept":[5,161],"is":[6,95,103],"proposed":[7],"to":[8,31,50,89,162],"simulate":[9,163],"space":[10],"on-orbit":[11],"microgravity":[12],"environments":[13],"for":[14,33],"free-flying":[15,59,118,170],"robots":[16,20],"on":[17,37,92],"ground.":[18],"Here,":[19],"are":[21],"suspended":[22],"by":[23],"active-controlled":[24],"motion":[25,68],"path":[26],"tracking":[27,69],"mechanisms":[28],"through":[29,105],"wires":[30,88,102],"compensate":[32],"gravitational":[34],"forces.":[35],"Based":[36],"the":[38,84,87,100,142,155,164],"concept,":[39],"an":[40,65],"experimental":[41,62],"test":[42],"bed":[43],"was":[44],"designed":[45],"and":[46,54,74,113,124,136,151,166],"fabricated":[47],"in":[48,122,126,172],"laboratory":[49],"study":[51],"on-ground":[52],"kinematic":[53,165],"dynamic":[55,167],"behaviors":[56,168],"of":[57,72,86,99,115,141,157,169],"a":[58,116],"robot.":[60],"The":[61,97,111,138],"fabrication":[63],"contains":[64],"horizontal":[67],"mechanism":[70],"composed":[71],"primary":[73],"secondary":[75],"rotating":[77],"arms.":[78],"An":[79],"multi-objective":[80],"optimization":[81],"method":[82],"calculating":[83],"tension":[85,98],"minimize":[90],"torques":[91],"robot":[93],"joints":[94],"approved.":[96],"suspension":[101],"obtained":[104],"passive":[106],"counterweights":[107],"using":[108],"pulley":[109],"mechanisms.":[110],"kinematics":[112],"dynamics":[114],"6-DOF":[117],"manipulator":[119,171],"were":[120],"calculated":[121],"MATLAB":[123],"simulated":[125],"MSC":[127],"Adams":[128],"under":[129],"three":[130],"working":[131],"conditions:":[132],"zero-gravity,":[133],"gravity.":[137],"lowest":[139],"ratio":[140],"torque":[143],"reached":[145],"80%.":[146],"Agreements":[147],"between":[148],"numerical":[149],"analyses":[150],"simulation":[152],"results":[153],"confirm":[154],"ability":[156],"this":[158],"space.":[173]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-03-25T13:04:00.132906","created_date":"2025-10-10T00:00:00"}
