{"id":"https://openalex.org/W2152508761","doi":"https://doi.org/10.1109/icra.2011.5979762","title":"Direct geometrico-static problem of under-constrained cable-driven parallel robots with three cables","display_name":"Direct geometrico-static problem of under-constrained cable-driven parallel robots with three cables","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2152508761","doi":"https://doi.org/10.1109/icra.2011.5979762","mag":"2152508761"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5979762","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979762","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","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/A5074104066","display_name":"Marco Carricato","orcid":"https://orcid.org/0000-0002-1528-4304"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marco Carricato","raw_affiliation_strings":["Department of Mechanical Engineering (DIEM), University of Bologna, Bologna, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering (DIEM), University of Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006390574","display_name":"Jean\u2010Pierre Merlet","orcid":"https://orcid.org/0000-0002-0401-5424"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jean-Pierre Merlet","raw_affiliation_strings":["Department of Mechanical Engineering (DIEM), French National Institute for Research in Computer Science and Control, Sophia-Antipolis, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering (DIEM), French National Institute for Research in Computer Science and Control, Sophia-Antipolis, France","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":15.7215,"has_fulltext":false,"cited_by_count":53,"citation_normalized_percentile":{"value":0.99595446,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3011","last_page":"3017"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":1.0,"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":1.0,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9952999949455261,"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/computer-science","display_name":"Computer science","score":0.6497094631195068},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4886367917060852},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.0720941424369812}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6497094631195068},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4886367917060852},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0720941424369812}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2011.5979762","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979762","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:cris.unibo.it:11585/102535","is_oa":false,"landing_page_url":"http://hdl.handle.net/11585/102535","pdf_url":null,"source":{"id":"https://openalex.org/S4306402579","display_name":"Archivio istituzionale della ricerca (Alma Mater Studiorum Universit\u00e0 di Bologna)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210117483","host_organization_name":"Istituto di Ematologia di Bologna","host_organization_lineage":["https://openalex.org/I4210117483"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":58,"referenced_works":["https://openalex.org/W31008108","https://openalex.org/W69660014","https://openalex.org/W149028290","https://openalex.org/W267969170","https://openalex.org/W1483218536","https://openalex.org/W1570420806","https://openalex.org/W1761151984","https://openalex.org/W1965391287","https://openalex.org/W1971118703","https://openalex.org/W1983666690","https://openalex.org/W1995843494","https://openalex.org/W2000616516","https://openalex.org/W2003360230","https://openalex.org/W2016522069","https://openalex.org/W2016763525","https://openalex.org/W2027811606","https://openalex.org/W2034704857","https://openalex.org/W2039559080","https://openalex.org/W2040587238","https://openalex.org/W2049294591","https://openalex.org/W2052171761","https://openalex.org/W2053721462","https://openalex.org/W2053778292","https://openalex.org/W2054120788","https://openalex.org/W2057917122","https://openalex.org/W2059522106","https://openalex.org/W2066309255","https://openalex.org/W2071647331","https://openalex.org/W2092884561","https://openalex.org/W2100847090","https://openalex.org/W2108020743","https://openalex.org/W2109792985","https://openalex.org/W2111082785","https://openalex.org/W2111398566","https://openalex.org/W2111406128","https://openalex.org/W2120557068","https://openalex.org/W2121401655","https://openalex.org/W2130365286","https://openalex.org/W2137079522","https://openalex.org/W2138950221","https://openalex.org/W2149655381","https://openalex.org/W2158050076","https://openalex.org/W2159298254","https://openalex.org/W2164278974","https://openalex.org/W2167148879","https://openalex.org/W2167360454","https://openalex.org/W2167587950","https://openalex.org/W2169424109","https://openalex.org/W2252406075","https://openalex.org/W2319466955","https://openalex.org/W2341668857","https://openalex.org/W2467049934","https://openalex.org/W2471293558","https://openalex.org/W2473945722","https://openalex.org/W4285719527","https://openalex.org/W4298231803","https://openalex.org/W6681788376","https://openalex.org/W6720061725"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W2382290278","https://openalex.org/W2478288626","https://openalex.org/W2350741829","https://openalex.org/W2530322880","https://openalex.org/W1596801655"],"abstract_inverted_index":{"This":[0],"paper":[1],"studies":[2],"under-constrained":[3],"cable-driven":[4],"parallel":[5],"robots":[6],"with":[7],"three":[8],"cables.":[9],"A":[10],"major":[11],"challenge":[12],"in":[13,49],"the":[14,20,43,51,55,59],"study":[15],"of":[16],"these":[17],"manipulators":[18],"is":[19,39,66],"intrinsic":[21],"coupling":[22],"between":[23],"kinematics":[24],"and":[25,54],"statics,":[26],"which":[27,47],"must":[28],"be":[29],"tackled":[30],"simultaneously.":[31],"In":[32],"this":[33],"contribution,":[34],"a":[35],"general":[36],"elimination":[37],"procedure":[38],"provided":[40],"that":[41],"solves":[42],"direct":[44],"geometrico-static":[45],"problem,":[46],"consists":[48],"determining":[50],"platform":[52],"posture":[53],"cable":[56,60],"tensions":[57],"when":[58],"lengths":[61],"are":[62],"assigned.":[63],"The":[64],"problem":[65],"proven":[67],"to":[68,71],"have":[69],"up":[70],"156":[72],"complex":[73],"solutions.":[74]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":8},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":12}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
