{"id":"https://openalex.org/W4408281257","doi":"https://doi.org/10.1109/iecon55916.2024.10905626","title":"Position control of articulated robots using frequency-shaped shaft torsional torque with low-rigidity couplings and double encoders","display_name":"Position control of articulated robots using frequency-shaped shaft torsional torque with low-rigidity couplings and double encoders","publication_year":2024,"publication_date":"2024-11-03","ids":{"openalex":"https://openalex.org/W4408281257","doi":"https://doi.org/10.1109/iecon55916.2024.10905626"},"language":"en","primary_location":{"id":"doi:10.1109/iecon55916.2024.10905626","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon55916.2024.10905626","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2024 - 50th 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/A5113812836","display_name":"Ryota Okano","orcid":null},"institutions":[{"id":"https://openalex.org/I178574317","display_name":"Mie University","ror":"https://ror.org/01529vy56","country_code":"JP","type":"education","lineage":["https://openalex.org/I178574317"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ryota Okano","raw_affiliation_strings":["Mie University,Department of Electrical and Electronic Engineering,Japan,514\u20138507"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mie University,Department of Electrical and Electronic Engineering,Japan,514\u20138507","institution_ids":["https://openalex.org/I178574317"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079416103","display_name":"Daisuke Yashiro","orcid":"https://orcid.org/0000-0002-8679-9858"},"institutions":[{"id":"https://openalex.org/I178574317","display_name":"Mie University","ror":"https://ror.org/01529vy56","country_code":"JP","type":"education","lineage":["https://openalex.org/I178574317"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Daisuke Yashiro","raw_affiliation_strings":["Mie University,Department of Electrical and Electronic Engineering,Japan,514\u20138507"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mie University,Department of Electrical and Electronic Engineering,Japan,514\u20138507","institution_ids":["https://openalex.org/I178574317"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084002618","display_name":"Kazuhiro Yubai","orcid":null},"institutions":[{"id":"https://openalex.org/I178574317","display_name":"Mie University","ror":"https://ror.org/01529vy56","country_code":"JP","type":"education","lineage":["https://openalex.org/I178574317"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuhiro Yubai","raw_affiliation_strings":["Mie University,Department of Electrical and Electronic Engineering,Japan,514\u20138507"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mie University,Department of Electrical and Electronic Engineering,Japan,514\u20138507","institution_ids":["https://openalex.org/I178574317"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113603804","display_name":"Satoshi Komada","orcid":null},"institutions":[{"id":"https://openalex.org/I178574317","display_name":"Mie University","ror":"https://ror.org/01529vy56","country_code":"JP","type":"education","lineage":["https://openalex.org/I178574317"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Satoshi Komada","raw_affiliation_strings":["Mie University,Department of Electrical and Electronic Engineering,Japan,514\u20138507"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mie University,Department of Electrical and Electronic Engineering,Japan,514\u20138507","institution_ids":["https://openalex.org/I178574317"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"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":0.33073363,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9962999820709229,"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":0.9962999820709229,"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":0.9923999905586243,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9908000230789185,"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/torque","display_name":"Torque","score":0.727156937122345},{"id":"https://openalex.org/keywords/rigidity","display_name":"Rigidity (electromagnetism)","score":0.7066141366958618},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5593887567520142},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.5035547614097595},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.49540865421295166},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.488402783870697},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.4423370063304901},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.40616530179977417},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.34224170446395874},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2806602716445923},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2714112401008606},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16721734404563904},{"id":"https://openalex.org/keywords/quantum-mechanics","display_name":"Quantum mechanics","score":0.07180604338645935}],"concepts":[{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.727156937122345},{"id":"https://openalex.org/C160343418","wikidata":"https://www.wikidata.org/wiki/Q185256","display_name":"Rigidity (electromagnetism)","level":2,"score":0.7066141366958618},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5593887567520142},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.5035547614097595},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.49540865421295166},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.488402783870697},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.4423370063304901},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.40616530179977417},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.34224170446395874},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2806602716445923},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2714112401008606},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16721734404563904},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.07180604338645935},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iecon55916.2024.10905626","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon55916.2024.10905626","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2024 - 50th Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.699999988079071,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1993148129","https://openalex.org/W2016958754","https://openalex.org/W2027797330","https://openalex.org/W2408144412","https://openalex.org/W2900622305","https://openalex.org/W3003538399","https://openalex.org/W3009523569","https://openalex.org/W3125257564","https://openalex.org/W3178098224","https://openalex.org/W4310969538","https://openalex.org/W4312629543","https://openalex.org/W4319596667","https://openalex.org/W4366967333","https://openalex.org/W4386232458","https://openalex.org/W4392081398","https://openalex.org/W4392251596","https://openalex.org/W4392667166"],"related_works":["https://openalex.org/W2626846570","https://openalex.org/W2068558458","https://openalex.org/W4390516098","https://openalex.org/W3204534828","https://openalex.org/W2181948922","https://openalex.org/W2384362569","https://openalex.org/W1541799442","https://openalex.org/W2369416114","https://openalex.org/W1974121318","https://openalex.org/W2387488705"],"abstract_inverted_index":{"In":[0],"this":[1],"study,":[2],"a":[3,90],"position":[4],"controller":[5,9],"and":[6,48,60,105,118],"an":[7,11],"acceleration":[8],"for":[10,68],"articulated":[12],"robot":[13,21],"are":[14,22],"designed.":[15],"The":[16,32,116],"active":[17],"joints":[18],"of":[19,36,124],"the":[20,46,70,74,94,122,125],"equipped":[23],"with":[24],"low-rigidity":[25],"couplings":[26,38],"to":[27,56,93],"realize":[28],"contact":[29],"force":[30],"control.":[31],"shaft":[33,71,80,95,111],"torsional":[34,72,81,96,112],"torque":[35,53,82,97,113],"these":[37],"is":[39,54],"estimated":[40,52],"using":[41],"encoders":[42],"installed":[43],"on":[44],"both":[45],"input":[47],"output":[49],"shafts.":[50],"This":[51],"utilized":[55],"achieve":[57],"target":[58],"tracking":[59],"disturbance":[61],"suppression.":[62],"Herein,":[63],"we":[64],"compare":[65],"three":[66],"methods":[67],"utilizing":[69],"torque:":[73],"first":[75],"method":[76,88,107],"does":[77],"not":[78],"employ":[79],"feedback":[83],"(Comparison":[84,102],"Method":[85,103],"1),":[86],"second":[87],"applies":[89],"constant":[91],"multiplier":[92],"before":[98],"feeding":[99],"it":[100],"back":[101,109],"2),":[104],"third":[106],"feeds":[108],"frequency-shaped":[110],"(Proposed":[114],"Method).":[115],"simulation":[117],"experimental":[119],"results":[120],"validate":[121],"effectiveness":[123],"proposed":[126],"method.":[127]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}