{"id":"https://openalex.org/W2117595525","doi":"https://doi.org/10.1109/iros.2004.1389924","title":"Control of constrained mechanical systems with passive joints","display_name":"Control of constrained mechanical systems with passive joints","publication_year":2005,"publication_date":"2005-04-12","ids":{"openalex":"https://openalex.org/W2117595525","doi":"https://doi.org/10.1109/iros.2004.1389924","mag":"2117595525"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2004.1389924","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2004.1389924","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)","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/A5000948875","display_name":"Farhad Aghili","orcid":"https://orcid.org/0000-0002-2059-0226"},"institutions":[{"id":"https://openalex.org/I2800055578","display_name":"Canadian Space Agency","ror":"https://ror.org/03a1gte98","country_code":"CA","type":"government","lineage":["https://openalex.org/I2800055578"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"F. Aghili","raw_affiliation_strings":["Space Technologies, Canadian Space Agency, Saint-Hubert, QUE, Canada","[Canadian Space Agency, Saint-Hubert, QUE, Canada]"],"affiliations":[{"raw_affiliation_string":"Space Technologies, Canadian Space Agency, Saint-Hubert, QUE, Canada","institution_ids":["https://openalex.org/I2800055578"]},{"raw_affiliation_string":"[Canadian Space Agency, Saint-Hubert, QUE, Canada]","institution_ids":["https://openalex.org/I2800055578"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5000948875"],"corresponding_institution_ids":["https://openalex.org/I2800055578"],"apc_list":null,"apc_paid":null,"fwci":3.8318,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.93038679,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":null,"biblio":{"volume":"4","issue":null,"first_page":"3288","last_page":"3294"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"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":0.9994999766349792,"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":0.996999979019165,"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"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9966999888420105,"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":0.819559633731842},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.8107759952545166},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7450690269470215},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.713169276714325},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6742333769798279},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.541801393032074},{"id":"https://openalex.org/keywords/mechanical-system","display_name":"Mechanical system","score":0.5408502221107483},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5109111666679382},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.44097888469696045},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.41372835636138916},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.39465540647506714},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3364650011062622},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23560336232185364},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.10091331601142883},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0870785117149353},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07669869065284729},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.054246604442596436}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.819559633731842},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.8107759952545166},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7450690269470215},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.713169276714325},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6742333769798279},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.541801393032074},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.5408502221107483},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5109111666679382},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.44097888469696045},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.41372835636138916},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.39465540647506714},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3364650011062622},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23560336232185364},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.10091331601142883},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0870785117149353},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07669869065284729},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.054246604442596436},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"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/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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2004.1389924","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2004.1389924","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)","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":13,"referenced_works":["https://openalex.org/W41341799","https://openalex.org/W1596951786","https://openalex.org/W1838579975","https://openalex.org/W1975537977","https://openalex.org/W1980232872","https://openalex.org/W2014863553","https://openalex.org/W2016958754","https://openalex.org/W2055302917","https://openalex.org/W2067473395","https://openalex.org/W2112474089","https://openalex.org/W2152737511","https://openalex.org/W2163042503","https://openalex.org/W2165092969"],"related_works":["https://openalex.org/W2490690736","https://openalex.org/W2099333796","https://openalex.org/W1999058329","https://openalex.org/W2080330449","https://openalex.org/W2007221537","https://openalex.org/W4322731072","https://openalex.org/W2218699221","https://openalex.org/W4285133152","https://openalex.org/W2082863316","https://openalex.org/W2795861314"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3],"approach":[4],"for":[5,28,78],"control":[6,16,79],"of":[7,21,74,80],"constrained":[8,29],"multibody":[9],"systems":[10],"based":[11],"on":[12],"a":[13,75],"projected":[14],"inverse-dynamics":[15],"scheme.":[17],"The":[18],"main":[19],"advantage":[20],"the":[22,43,53,60],"controller":[23,44,61,77],"is":[24],"that":[25],"it":[26,49],"works":[27],"systems,":[30],"which":[31],"have":[32],"joints":[33],"with":[34,64,72],"no":[35],"actuator":[36],"(passive":[37],"joints),":[38],"e.g.":[39],"parallel":[40],"manipulators.":[41],"Also":[42],"minimizes":[45],"actuation":[46],"force,":[47],"while":[48],"does":[50],"not":[51],"require":[52],"constraint":[54,66,81],"equations":[55],"be":[56],"linearly":[57],"independent.":[58],"Therefore,":[59],"can":[62],"cope":[63],"redundant":[65],"or":[67],"singular":[68],"configuration.":[69],"It":[70],"follows":[71],"development":[73],"complementary":[76],"force.":[82]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}