{"id":"https://openalex.org/W4388736851","doi":"https://doi.org/10.1109/iecon51785.2023.10311931","title":"Experimental Verification of a Drilling Robot with a Force-Controlled End Effector","display_name":"Experimental Verification of a Drilling Robot with a Force-Controlled End Effector","publication_year":2023,"publication_date":"2023-10-16","ids":{"openalex":"https://openalex.org/W4388736851","doi":"https://doi.org/10.1109/iecon51785.2023.10311931"},"language":"en","primary_location":{"id":"doi:10.1109/iecon51785.2023.10311931","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/iecon51785.2023.10311931","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2023- 49th Annual Conference of the IEEE Industrial Electronics Society","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/A5109966829","display_name":"Yuki Mizutani","orcid":null},"institutions":[{"id":"https://openalex.org/I42405503","display_name":"Gifu University","ror":"https://ror.org/024exxj48","country_code":"JP","type":"education","lineage":["https://openalex.org/I42405503"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Yuki Mizutani","raw_affiliation_strings":["Graduate School of Natural Science and Technology, Gifu University,Dept. of Intelligence Science and Engineering,Gifu,Japan","Dept. of Intelligence Science and Engineering, Graduate School of Natural Science and Technology, Gifu University, Gifu, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Natural Science and Technology, Gifu University,Dept. of Intelligence Science and Engineering,Gifu,Japan","institution_ids":["https://openalex.org/I42405503"]},{"raw_affiliation_string":"Dept. of Intelligence Science and Engineering, Graduate School of Natural Science and Technology, Gifu University, Gifu, Japan","institution_ids":["https://openalex.org/I42405503"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041478361","display_name":"Yoshiyuki Hatta","orcid":"https://orcid.org/0000-0001-7077-5264"},"institutions":[{"id":"https://openalex.org/I42405503","display_name":"Gifu University","ror":"https://ror.org/024exxj48","country_code":"JP","type":"education","lineage":["https://openalex.org/I42405503"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshiyuki Hatta","raw_affiliation_strings":["Gifu University,Dept. of Mechanical Engineering,Gifu,Japan","Dept. of Mechanical Engineering, Gifu University, Gifu, Japan"],"affiliations":[{"raw_affiliation_string":"Gifu University,Dept. of Mechanical Engineering,Gifu,Japan","institution_ids":["https://openalex.org/I42405503"]},{"raw_affiliation_string":"Dept. of Mechanical Engineering, Gifu University, Gifu, Japan","institution_ids":["https://openalex.org/I42405503"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047042841","display_name":"Kazuaki Ito","orcid":"https://orcid.org/0000-0002-8977-3709"},"institutions":[{"id":"https://openalex.org/I42405503","display_name":"Gifu University","ror":"https://ror.org/024exxj48","country_code":"JP","type":"education","lineage":["https://openalex.org/I42405503"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuaki Ito","raw_affiliation_strings":["Gifu University,Dept. of Mechanical Engineering,Gifu,Japan","Dept. of Mechanical Engineering, Gifu University, Gifu, Japan"],"affiliations":[{"raw_affiliation_string":"Gifu University,Dept. of Mechanical Engineering,Gifu,Japan","institution_ids":["https://openalex.org/I42405503"]},{"raw_affiliation_string":"Dept. of Mechanical Engineering, Gifu University, Gifu, Japan","institution_ids":["https://openalex.org/I42405503"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032037219","display_name":"Mitsuru Nagatsuka","orcid":null},"institutions":[{"id":"https://openalex.org/I193666615","display_name":"Kawasaki Heavy Industries (Japan)","ror":"https://ror.org/01sggg367","country_code":"JP","type":"company","lineage":["https://openalex.org/I193666615"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mitsuru Nagatsuka","raw_affiliation_strings":["Kawasaki Heavy Industries, Ltd.,Gifu,Japan","Kawasaki Heavy Industries, Ltd., Gifu, Japan"],"affiliations":[{"raw_affiliation_string":"Kawasaki Heavy Industries, Ltd.,Gifu,Japan","institution_ids":["https://openalex.org/I193666615"]},{"raw_affiliation_string":"Kawasaki Heavy Industries, Ltd., Gifu, Japan","institution_ids":["https://openalex.org/I193666615"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081569646","display_name":"Masahiko Tsuji","orcid":null},"institutions":[{"id":"https://openalex.org/I193666615","display_name":"Kawasaki Heavy Industries (Japan)","ror":"https://ror.org/01sggg367","country_code":"JP","type":"company","lineage":["https://openalex.org/I193666615"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masahiko Tsuji","raw_affiliation_strings":["Kawasaki Heavy Industries, Ltd.,Gifu,Japan","Kawasaki Heavy Industries, Ltd., Gifu, Japan"],"affiliations":[{"raw_affiliation_string":"Kawasaki Heavy Industries, Ltd.,Gifu,Japan","institution_ids":["https://openalex.org/I193666615"]},{"raw_affiliation_string":"Kawasaki Heavy Industries, Ltd., Gifu, Japan","institution_ids":["https://openalex.org/I193666615"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5109966829"],"corresponding_institution_ids":["https://openalex.org/I42405503"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.18254947,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","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"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9972000122070312,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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-end-effector","display_name":"Robot end effector","score":0.7564589381217957},{"id":"https://openalex.org/keywords/drilling","display_name":"Drilling","score":0.7543882131576538},{"id":"https://openalex.org/keywords/drill","display_name":"Drill","score":0.7166159749031067},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.694051206111908},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5997195839881897},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5937691330909729},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5200623869895935},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4612746238708496},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3869566321372986},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3511276841163635},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3372983932495117},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2674494683742523},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15583208203315735}],"concepts":[{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.7564589381217957},{"id":"https://openalex.org/C25197100","wikidata":"https://www.wikidata.org/wiki/Q890886","display_name":"Drilling","level":2,"score":0.7543882131576538},{"id":"https://openalex.org/C173736775","wikidata":"https://www.wikidata.org/wiki/Q58964","display_name":"Drill","level":2,"score":0.7166159749031067},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.694051206111908},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5997195839881897},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5937691330909729},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5200623869895935},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4612746238708496},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3869566321372986},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3511276841163635},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3372983932495117},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2674494683742523},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15583208203315735},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iecon51785.2023.10311931","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/iecon51785.2023.10311931","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2023- 49th Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W2013981569","https://openalex.org/W2029387851","https://openalex.org/W2333157818","https://openalex.org/W2413863186","https://openalex.org/W2428246063","https://openalex.org/W3065633315","https://openalex.org/W3089992508","https://openalex.org/W4225129000"],"related_works":["https://openalex.org/W2366259689","https://openalex.org/W2747852726","https://openalex.org/W3160236466","https://openalex.org/W3002748439","https://openalex.org/W2060407818","https://openalex.org/W2028725533","https://openalex.org/W2914305898","https://openalex.org/W2383434491","https://openalex.org/W2341298063","https://openalex.org/W2032499193"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,10,70,85,107],"force-controlled":[4],"precision":[5,17,33,49],"drilling":[6,34,50,59,87],"process":[7,88],"based":[8,119],"on":[9,101,120],"reaction":[11],"force":[12,91,97],"estimation":[13],"observer":[14],"to":[15,63,78,93,106],"realize":[16,79],"drilling,":[18],"as":[19],"typified":[20],"by":[21,41],"rivet":[22],"holes":[23],"in":[24],"aircraft,":[25],"using":[26,44,54],"an":[27,102],"industrial":[28,72],"robot":[29,73,109],"arm.":[30,110],"So":[31],"far,":[32],"of":[35,98,113],"aircraft":[36],"panels":[37],"has":[38],"been":[39],"performed":[40,53],"skilled":[42],"technicians":[43],"their":[45,64],"hands.":[46],"Moreover,":[47],"some":[48],"processes":[51],"are":[52],"large":[55],"and":[56,67],"expensive":[57],"special-purpose":[58],"machines.":[60],"However,":[61],"owing":[62],"high":[65],"prices":[66],"poor":[68],"versatility,":[69],"small":[71,108],"arm":[74],"is":[75,117],"often":[76],"required":[77],"this":[80],"process.":[81],"Here,":[82],"we":[83],"propose":[84],"high-precision":[86],"that":[89],"uses":[90],"control":[92,94],"the":[95,99,114],"thrust":[96],"drill":[100],"end":[103],"effector":[104],"attached":[105],"The":[111],"effectiveness":[112],"proposed":[115],"method":[116],"verified":[118],"actual":[121],"machine":[122],"verification.":[123]},"counts_by_year":[],"updated_date":"2025-12-22T23:10:17.713674","created_date":"2025-10-10T00:00:00"}
