{"id":"https://openalex.org/W1972801519","doi":"https://doi.org/10.1109/icra.2013.6630763","title":"Designing dynamics and control of isotropic Gough-Stewart micromanipulators","display_name":"Designing dynamics and control of isotropic Gough-Stewart micromanipulators","publication_year":2013,"publication_date":"2013-05-01","ids":{"openalex":"https://openalex.org/W1972801519","doi":"https://doi.org/10.1109/icra.2013.6630763","mag":"1972801519"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2013.6630763","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6630763","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 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/A5020843331","display_name":"John E. McInroy","orcid":null},"institutions":[{"id":"https://openalex.org/I12834331","display_name":"University of Wyoming","ror":"https://ror.org/01485tq96","country_code":"US","type":"education","lineage":["https://openalex.org/I12834331"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John E. McInroy","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Wyoming, Laramie, WY, USA","Dept. of Electr. & Comput. Eng., Univ. of Wyoming, Laramie, WY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Wyoming, Laramie, WY, USA","institution_ids":["https://openalex.org/I12834331"]},{"raw_affiliation_string":"Dept. of Electr. & Comput. Eng., Univ. of Wyoming, Laramie, WY, USA","institution_ids":["https://openalex.org/I12834331"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110087507","display_name":"John F. O\u2019Brien","orcid":"https://orcid.org/0000-0002-4882-1102"},"institutions":[{"id":"https://openalex.org/I12834331","display_name":"University of Wyoming","ror":"https://ror.org/01485tq96","country_code":"US","type":"education","lineage":["https://openalex.org/I12834331"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John F. O'Brien","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Wyoming, Laramie, WY, USA","Dept. of Electr. & Comput. Eng., Univ. of Wyoming, Laramie, WY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Wyoming, Laramie, WY, USA","institution_ids":["https://openalex.org/I12834331"]},{"raw_affiliation_string":"Dept. of Electr. & Comput. Eng., Univ. of Wyoming, Laramie, WY, USA","institution_ids":["https://openalex.org/I12834331"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085395763","display_name":"Anthony A. Allais","orcid":null},"institutions":[{"id":"https://openalex.org/I12834331","display_name":"University of Wyoming","ror":"https://ror.org/01485tq96","country_code":"US","type":"education","lineage":["https://openalex.org/I12834331"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anthony A. Allais","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Wyoming, Laramie, WY, USA","Dept. of Electr. & Comput. Eng., Univ. of Wyoming, Laramie, WY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Wyoming, Laramie, WY, USA","institution_ids":["https://openalex.org/I12834331"]},{"raw_affiliation_string":"Dept. of Electr. & Comput. Eng., Univ. of Wyoming, Laramie, WY, USA","institution_ids":["https://openalex.org/I12834331"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I12834331"],"apc_list":null,"apc_paid":null,"fwci":1.886,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.82390769,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1458","last_page":"1464"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9980999827384949,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9980999827384949,"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/T10369","display_name":"Advanced MEMS and NEMS Technologies","score":0.9941999912261963,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9919000267982483,"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/stewart-platform","display_name":"Stewart platform","score":0.806415319442749},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7510973215103149},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.614855945110321},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.5685774683952332},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5220329761505127},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.4830394387245178},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.46026140451431274},{"id":"https://openalex.org/keywords/bandwidth","display_name":"Bandwidth (computing)","score":0.45302411913871765},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.4505423605442047},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.43974313139915466},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.27769845724105835},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2479555904865265},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.24177929759025574},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17292317748069763},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1555909812450409},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12501955032348633}],"concepts":[{"id":"https://openalex.org/C69769044","wikidata":"https://www.wikidata.org/wiki/Q2041113","display_name":"Stewart platform","level":3,"score":0.806415319442749},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7510973215103149},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.614855945110321},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.5685774683952332},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5220329761505127},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.4830394387245178},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.46026140451431274},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.45302411913871765},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.4505423605442047},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43974313139915466},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27769845724105835},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2479555904865265},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.24177929759025574},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17292317748069763},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1555909812450409},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12501955032348633},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2013.6630763","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6630763","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.8199999928474426,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1975468089","https://openalex.org/W1988266600","https://openalex.org/W2002926244","https://openalex.org/W2069561344","https://openalex.org/W2111455515","https://openalex.org/W2116823784","https://openalex.org/W2118091411","https://openalex.org/W2118141132","https://openalex.org/W2126800480","https://openalex.org/W2139090801","https://openalex.org/W2152453785","https://openalex.org/W2160668074","https://openalex.org/W3148655098"],"related_works":["https://openalex.org/W2621396570","https://openalex.org/W2969368923","https://openalex.org/W2374063931","https://openalex.org/W2593301055","https://openalex.org/W2391397427","https://openalex.org/W2067591074","https://openalex.org/W1996341361","https://openalex.org/W2919815400","https://openalex.org/W2156518980","https://openalex.org/W2159353126"],"abstract_inverted_index":{"A":[0],"new,":[1],"seven":[2],"parameter":[3],"class":[4,17],"of":[5,14,134,159,167,174],"micromanipulators":[6],"is":[7,18,80,112],"found":[8],"with":[9,25,101],"decoupled":[10,29,76,141],"dynamics.":[11],"The":[12,52,74],"flexibility":[13],"the":[15,56,94,98,103,106,109,122,125,129,132,140,161,165,168,179],"new":[16],"demonstrated":[19],"by":[20,43],"designing":[21],"a":[22],"Stewart":[23],"platform":[24],"fully":[26],"equalized":[27,78,110],"and":[28,72,77,155],"dynamics":[30,57],"(i.e.,":[31],"all":[32,175],"resonant":[33],"frequencies":[34],"are":[35,60],"equal).":[36],"Although":[37],"this":[38],"has":[39,47],"been":[40,49],"attempted":[41],"before":[42],"other":[44],"researchers,":[45],"it":[46],"not":[48],"previously":[50],"accomplished.":[51],"ability":[53],"to":[54,62,65,82,117],"design":[55,133],"so":[58],"they":[59],"amenable":[61],"control":[63,93],"leads":[64],"significant":[66],"increases":[67],"in":[68,86],"closed":[69,87],"loop":[70],"performance":[71,147,154],"robustness.":[73],"dynamically":[75],"manipulator":[79,85,111,142],"compared":[81],"an":[83],"asymmetric":[84,126],"loop.":[88],"Even":[89],"though":[90],"both":[91],"manipulators":[92],"same":[95,99,104],"payload":[96],"over":[97],"bandwidth":[100],"exactly":[102],"struts,":[105],"H\u221econtroller":[107,123],"for":[108,124,178],"five":[113],"times":[114,145],"less":[115],"sensitive":[116],"worst":[118],"case":[119],"disturbances":[120],"than":[121],"manipulator.":[127,181],"Moreover,":[128],"decoupling":[130],"facilitates":[131],"Nyquist":[135],"stable":[136],"compensators":[137,163,177],"which":[138],"give":[139],"one":[143],"hundred":[144],"higher":[146],"at":[148],"low":[149],"frequencies.":[150],"This":[151],"greatly":[152],"increased":[153],"robustness":[156],"requires":[157],"implementation":[158,173],"only":[160],"six":[162,169],"along":[164],"diagonal":[166],"degree-of-freedom":[170],"system,":[171],"versus":[172],"36":[176],"asymmetrical":[180]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2018,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}