{"id":"https://openalex.org/W4244941493","doi":"https://doi.org/10.1109/icsmc.2007.4413646","title":"New formulation for an industrial robot impedance controller: Real-time implementation on a KUKA robot","display_name":"New formulation for an industrial robot impedance controller: Real-time implementation on a KUKA robot","publication_year":2007,"publication_date":"2007-10-01","ids":{"openalex":"https://openalex.org/W4244941493","doi":"https://doi.org/10.1109/icsmc.2007.4413646"},"language":"en","primary_location":{"id":"doi:10.1109/icsmc.2007.4413646","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icsmc.2007.4413646","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE International Conference on Systems, Man and Cybernetics","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/A5072781167","display_name":"Pascal Bigras","orcid":null},"institutions":[{"id":"https://openalex.org/I9736820","display_name":"\u00c9cole de Technologie Sup\u00e9rieure","ror":"https://ror.org/0020snb74","country_code":"CA","type":"education","lineage":["https://openalex.org/I49663120","https://openalex.org/I9736820"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"P. Bigras","raw_affiliation_strings":["Department of Automated Manufacturing Engineering, Ecole de Technologie Sup\u00e9rieure, Montreal, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automated Manufacturing Engineering, Ecole de Technologie Sup\u00e9rieure, Montreal, Canada","institution_ids":["https://openalex.org/I9736820"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078407426","display_name":"Jason Michel Lambert","orcid":"https://orcid.org/0000-0001-9281-712X"},"institutions":[{"id":"https://openalex.org/I4210159778","display_name":"National Research Council Canada","ror":"https://ror.org/04mte1k06","country_code":"CA","type":"government","lineage":["https://openalex.org/I4210159778"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"M. Lambert","raw_affiliation_strings":["Aerospace Manufacturing Technology Centre, Institute for Aerospace Research, National Research Council Canada, Montreal, QUE, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aerospace Manufacturing Technology Centre, Institute for Aerospace Research, National Research Council Canada, Montreal, QUE, Canada","institution_ids":["https://openalex.org/I4210159778"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112355180","display_name":"C. Perron","orcid":null},"institutions":[{"id":"https://openalex.org/I4210159778","display_name":"National Research Council Canada","ror":"https://ror.org/04mte1k06","country_code":"CA","type":"government","lineage":["https://openalex.org/I4210159778"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"C. Perron","raw_affiliation_strings":["Aerospace Manufacturing Technology Centre, Institute for Aerospace Research, National Research Council Canada, Montreal, QUE, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aerospace Manufacturing Technology Centre, Institute for Aerospace Research, National Research Council Canada, Montreal, QUE, Canada","institution_ids":["https://openalex.org/I4210159778"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.45826833,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2782","last_page":"2787"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9997000098228455,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9983999729156494,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7241691946983337},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6257930397987366},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.6168556213378906},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.600151538848877},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.5661672949790955},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5579612851142883},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5572750568389893},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5201632976531982},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.5192677974700928},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.49545204639434814},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.46349501609802246},{"id":"https://openalex.org/keywords/root-locus","display_name":"Root locus","score":0.41767388582229614},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3634498715400696},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3606198728084564},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.22102999687194824},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.21740663051605225},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11527037620544434},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10550573468208313},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.07893022894859314},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.05403813719749451}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7241691946983337},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6257930397987366},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.6168556213378906},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.600151538848877},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.5661672949790955},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5579612851142883},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5572750568389893},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5201632976531982},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.5192677974700928},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.49545204639434814},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.46349501609802246},{"id":"https://openalex.org/C27162326","wikidata":"https://www.wikidata.org/wiki/Q957693","display_name":"Root locus","level":3,"score":0.41767388582229614},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3634498715400696},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3606198728084564},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.22102999687194824},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.21740663051605225},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11527037620544434},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10550573468208313},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.07893022894859314},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.05403813719749451},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icsmc.2007.4413646","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icsmc.2007.4413646","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE International Conference on Systems, Man and Cybernetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1500387900","https://openalex.org/W1915646632","https://openalex.org/W1918017009","https://openalex.org/W1951379661","https://openalex.org/W1955104206","https://openalex.org/W1997335902","https://openalex.org/W2069626782","https://openalex.org/W2076420009","https://openalex.org/W2092923988","https://openalex.org/W2096462715","https://openalex.org/W2141103690","https://openalex.org/W2143825594","https://openalex.org/W2149187245","https://openalex.org/W2150446927","https://openalex.org/W2169061466","https://openalex.org/W2169164876"],"related_works":["https://openalex.org/W1548357495","https://openalex.org/W2314048082","https://openalex.org/W1968487248","https://openalex.org/W2097006611","https://openalex.org/W4295916778","https://openalex.org/W2112995122","https://openalex.org/W2165087119","https://openalex.org/W2018444593","https://openalex.org/W2045554378","https://openalex.org/W2922441285"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,52],"new":[4],"formulation":[5,41],"is":[6,42],"proposed":[7,40],"for":[8,15,73],"the":[9,24,28,31,35,57,69,74],"design":[10,45],"of":[11,27,34],"an":[12,16,48],"impedance":[13,49],"controller":[14,50,75],"industrial":[17,36],"robot.":[18],"This":[19],"model":[20],"takes":[21],"into":[22],"account":[23],"complete":[25],"kinematics":[26],"system":[29],"and":[30,46],"position":[32],"response":[33],"robot":[37,54],"controller.":[38],"The":[39],"used":[43],"to":[44],"implement":[47],"on":[51],"KUKA":[53],"interacting":[55],"with":[56],"environment":[58],"having":[59],"two":[60],"different":[61],"stiffness.":[62],"Good":[63],"results":[64],"are":[65],"obtained":[66],"by":[67],"using":[68],"root":[70],"locus":[71],"method":[72],"design.":[76]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}