{"id":"https://openalex.org/W1514481512","doi":"https://doi.org/10.1109/icra.2015.7139400","title":"&amp;#x2112;&lt;inf&gt;1&lt;/inf&gt; adaptive control of parallel kinematic manipulators: Design and real-time experiments","display_name":"&amp;#x2112;&lt;inf&gt;1&lt;/inf&gt; adaptive control of parallel kinematic manipulators: Design and real-time experiments","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1514481512","doi":"https://doi.org/10.1109/icra.2015.7139400","mag":"1514481512"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139400","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139400","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 Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-01176534","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5003184493","display_name":"Mouss\u00e2b Bennehar","orcid":"https://orcid.org/0000-0002-6566-6132"},"institutions":[{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Moussab Bennehar","raw_affiliation_strings":["Robotics Department of Laboratoire d'Informatique, Robotique et de Micro\u00e9lectonique de Montpellier (LIRMM), Montpellier, France","Robotics Department of Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectonique de Montpellier (LIRMM) 161 rue Ada, 34090, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Department of Laboratoire d'Informatique, Robotique et de Micro\u00e9lectonique de Montpellier (LIRMM), Montpellier, France","institution_ids":["https://openalex.org/I4210101743"]},{"raw_affiliation_string":"Robotics Department of Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectonique de Montpellier (LIRMM) 161 rue Ada, 34090, France","institution_ids":["https://openalex.org/I4210101743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026408399","display_name":"Ahmed Chemori","orcid":"https://orcid.org/0000-0001-9739-9473"},"institutions":[{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Ahmed Chemori","raw_affiliation_strings":["Robotics Department of Laboratoire d'Informatique, Robotique et de Micro\u00e9lectonique de Montpellier (LIRMM), Montpellier, France","Robotics Department of Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectonique de Montpellier (LIRMM) 161 rue Ada, 34090, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Department of Laboratoire d'Informatique, Robotique et de Micro\u00e9lectonique de Montpellier (LIRMM), Montpellier, France","institution_ids":["https://openalex.org/I4210101743"]},{"raw_affiliation_string":"Robotics Department of Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectonique de Montpellier (LIRMM) 161 rue Ada, 34090, France","institution_ids":["https://openalex.org/I4210101743"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039128487","display_name":"Fran\u00e7ois Pierrot","orcid":"https://orcid.org/0000-0002-9638-4357"},"institutions":[{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Francois Pierrot","raw_affiliation_strings":["Robotics Department of Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectonique de Montpellier (LIRMM) 161 rue Ada, 34090, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Department of Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectonique de Montpellier (LIRMM) 161 rue Ada, 34090, France","institution_ids":["https://openalex.org/I4210101743"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6817,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.72652464,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1587","last_page":"1592"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9995999932289124,"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":0.9995999932289124,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9983999729156494,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.998199999332428,"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/kinematics","display_name":"Kinematics","score":0.730128288269043},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6856039762496948},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.6002089381217957},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5934022068977356},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5324545502662659},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.5047999620437622},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.47261691093444824},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4275944232940674},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2629087567329407},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24862879514694214},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22655710577964783},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22590553760528564},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.05742228031158447},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.05459442734718323}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.730128288269043},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6856039762496948},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.6002089381217957},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5934022068977356},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5324545502662659},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.5047999620437622},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.47261691093444824},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4275944232940674},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2629087567329407},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24862879514694214},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22655710577964783},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22590553760528564},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.05742228031158447},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.05459442734718323},{"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2015.7139400","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139400","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 Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-01176534v1","is_oa":true,"landing_page_url":"https://hal.science/hal-01176534","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://icra2015.org","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-01176534v1","is_oa":true,"landing_page_url":"https://hal.science/hal-01176534","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://icra2015.org","raw_type":"Conference papers"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W575905749","https://openalex.org/W1988664374","https://openalex.org/W2005126335","https://openalex.org/W2006813793","https://openalex.org/W2016568929","https://openalex.org/W2024461890","https://openalex.org/W2039269682","https://openalex.org/W2070678224","https://openalex.org/W2071068454","https://openalex.org/W2075467386","https://openalex.org/W2083483041","https://openalex.org/W2084828843","https://openalex.org/W2101301069","https://openalex.org/W2101494153","https://openalex.org/W2105174847","https://openalex.org/W2116243329","https://openalex.org/W2132294818","https://openalex.org/W2148896300","https://openalex.org/W2151121581","https://openalex.org/W2157577511","https://openalex.org/W2163854772","https://openalex.org/W2171178391","https://openalex.org/W4231017914"],"related_works":["https://openalex.org/W1991810297","https://openalex.org/W1819950161","https://openalex.org/W2567391447","https://openalex.org/W2032253950","https://openalex.org/W2101148463","https://openalex.org/W2567520115","https://openalex.org/W1604153366","https://openalex.org/W2055801945","https://openalex.org/W1925083093","https://openalex.org/W1505013685"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"the":[3,17,49,66,75,84,94,97,100],"recently":[4],"developed":[5],"\u2112":[6,26,77],"<inf":[7,27,78],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[8,28,79],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1</inf>":[9,29,80],"adaptive":[10,30,81,101],"control":[11,39,53],"strategy":[12],"is":[13,32,55],"experimentally":[14,56],"validated":[15],"for":[16,34],"first":[18],"time":[19],"on":[20,58,65],"a":[21,59,70],"parallel":[22,61],"kinematic":[23,62],"manipulator.":[24,63],"The":[25,52],"controller":[31,82,86],"known":[33],"its":[35],"decoupled":[36],"estimation":[37],"and":[38],"loops":[40],"which":[41],"enables":[42],"fast":[43],"adaptation":[44],"while":[45],"guaranteeing":[46],"robustness":[47],"of":[48,89,96],"closed-loop":[50],"system.":[51],"scheme":[54],"implemented":[57],"4-DOFs":[60],"Based":[64],"obtained":[67],"experimental":[68],"results,":[69],"comparative":[71],"study":[72],"shows":[73],"that":[74],"proposed":[76],"outperforms":[83],"PD":[85],"in":[87,99],"terms":[88],"tracking":[90],"performance":[91],"thanks":[92],"to":[93],"compensation":[95],"nonlinearities":[98],"controller.":[102]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2015,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2016-06-24T00:00:00"}
