{"id":"https://openalex.org/W2110027724","doi":"https://doi.org/10.1109/iros.2003.1249288","title":"Implementation of an output feedback controller in operational space","display_name":"Implementation of an output feedback controller in operational space","publication_year":2004,"publication_date":"2004-07-08","ids":{"openalex":"https://openalex.org/W2110027724","doi":"https://doi.org/10.1109/iros.2003.1249288","mag":"2110027724"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2003.1249288","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1249288","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","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/A5103245735","display_name":"Qing Xia","orcid":"https://orcid.org/0000-0002-4657-7986"},"institutions":[{"id":"https://openalex.org/I4210091207","display_name":"Singapore Institute of Manufacturing Technology","ror":"https://ror.org/00f44np30","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I4210091207","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Qing Hua Xia","raw_affiliation_strings":["Singapore Institute of Manufacturing Technology, Singapore","Singapore Inst. Manuf. Technol., Nanyang, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Singapore Institute of Manufacturing Technology, Singapore","institution_ids":["https://openalex.org/I4210091207"]},{"raw_affiliation_string":"Singapore Inst. Manuf. Technol., Nanyang, Singapore","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111979185","display_name":"Ser Yong Lim","orcid":null},"institutions":[{"id":"https://openalex.org/I4210091207","display_name":"Singapore Institute of Manufacturing Technology","ror":"https://ror.org/00f44np30","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I4210091207","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Ser Yong Lim","raw_affiliation_strings":["Singapore Institute of Manufacturing Technology, Singapore","Singapore Inst. Manuf. Technol., Nanyang, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Singapore Institute of Manufacturing Technology, Singapore","institution_ids":["https://openalex.org/I4210091207"]},{"raw_affiliation_string":"Singapore Inst. Manuf. Technol., Nanyang, Singapore","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064469965","display_name":"Marcelo H. Ang","orcid":"https://orcid.org/0000-0001-8277-6408"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"M.H. Ang","raw_affiliation_strings":["Mechanical Engineering Department, National University of Singapore, Singapore","National University of Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"National University of Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103541446","display_name":"Tao Ming Lim","orcid":null},"institutions":[{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]},{"id":"https://openalex.org/I4210091207","display_name":"Singapore Institute of Manufacturing Technology","ror":"https://ror.org/00f44np30","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I4210091207","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Tao Ming Lim","raw_affiliation_strings":["Singapore Institute of Manufacturing Technology, Singapore","Agency for Science, Technology and Research"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Singapore Institute of Manufacturing Technology, Singapore","institution_ids":["https://openalex.org/I4210091207"]},{"raw_affiliation_string":"Agency for Science, Technology and Research","institution_ids":["https://openalex.org/I115228651"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"3","issue":null,"first_page":"2761","last_page":"2766"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9991000294685364,"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":0.995199978351593,"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/control-theory","display_name":"Control theory (sociology)","score":0.8655707240104675},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.8045782446861267},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7088792324066162},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.6832114458084106},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.683111310005188},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6468269228935242},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6361372470855713},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6324371099472046},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.5525885224342346},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5481850504875183},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.46487998962402344},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4224311113357544},{"id":"https://openalex.org/keywords/feedback-controller","display_name":"Feedback controller","score":0.4169849157333374},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.41371679306030273},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26027414202690125},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21628528833389282},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18886101245880127},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18020397424697876},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10227245092391968},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.07434675097465515}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8655707240104675},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.8045782446861267},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7088792324066162},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.6832114458084106},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.683111310005188},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6468269228935242},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6361372470855713},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6324371099472046},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.5525885224342346},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5481850504875183},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.46487998962402344},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4224311113357544},{"id":"https://openalex.org/C2984730371","wikidata":"https://www.wikidata.org/wiki/Q6501221","display_name":"Feedback controller","level":3,"score":0.4169849157333374},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41371679306030273},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26027414202690125},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21628528833389282},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18886101245880127},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18020397424697876},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10227245092391968},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.07434675097465515},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"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":3,"locations":[{"id":"doi:10.1109/iros.2003.1249288","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1249288","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","raw_type":"proceedings-article"},{"id":"pmh:oai:scholarbank.nus.edu.sg:10635/73525","is_oa":false,"landing_page_url":"http://scholarbank.nus.edu.sg/handle/10635/73525","pdf_url":null,"source":{"id":"https://openalex.org/S7407052290","display_name":"National University of Singapore","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Scopus","raw_type":"Conference Paper"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.869.9191","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.869.9191","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://guppy.mpe.nus.edu.sg/%7Empeangh/publications/iros03-qinghua.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.4000000059604645}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1496777766","https://openalex.org/W1659543660","https://openalex.org/W1867464835","https://openalex.org/W1918733332","https://openalex.org/W2023285936","https://openalex.org/W2061875139","https://openalex.org/W2112474089","https://openalex.org/W2129811125","https://openalex.org/W2141813051","https://openalex.org/W2154513594","https://openalex.org/W2158516389","https://openalex.org/W2160869243","https://openalex.org/W2162072750","https://openalex.org/W2171315797","https://openalex.org/W2570513205","https://openalex.org/W2714785702","https://openalex.org/W3008516728","https://openalex.org/W6629617714","https://openalex.org/W6679177149","https://openalex.org/W6683389932","https://openalex.org/W6739887528"],"related_works":["https://openalex.org/W1535080110","https://openalex.org/W306312984","https://openalex.org/W857189463","https://openalex.org/W2979675132","https://openalex.org/W2790520092","https://openalex.org/W4306309337","https://openalex.org/W20648474","https://openalex.org/W2161688277","https://openalex.org/W4386066711","https://openalex.org/W2151998418"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3],"operational":[4],"space":[5],"output":[6],"feedback":[7],"controller":[8,50],"for":[9,31],"non-redundant":[10],"robot":[11],"manipulators":[12],"to":[13],"achieve":[14,24],"trajectory":[15],"tracking":[16,37,56],"without":[17],"velocity":[18,36,42],"measurements.":[19],"The":[20],"overall":[21],"system":[22],"can":[23],"a":[25],"semi-global":[26],"exponential":[27],"stability":[28],"(SGES)":[29],"result":[30],"the":[32,48],"position,":[33],"orientation":[34,55],"and":[35,54,61],"errors":[38],"as":[39,41],"well":[40],"observation":[43],"errors.":[44],"Experimental":[45],"results":[46],"of":[47],"proposed":[49],"indicate":[51],"good":[52],"position":[53],"performance":[57],"under":[58],"parametric":[59],"uncertainty":[60],"payload":[62],"variations.":[63]},"counts_by_year":[],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}
