{"id":"https://openalex.org/W2146813966","doi":"https://doi.org/10.1109/iros.2009.5354012","title":"Projection-based control of parallel manipulators","display_name":"Projection-based control of parallel manipulators","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2146813966","doi":"https://doi.org/10.1109/iros.2009.5354012","mag":"2146813966"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354012","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354012","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","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":"Farhad Aghili","raw_affiliation_strings":["Spacecraft Engineering Division of the Space Technologies, Canadian Space Agency, Saint Hubert, QUE, Canada","Spacecraft Engineering Division of the Space Technologies, Canadian Space Agency, Saint-Hubert, Quebec J3Y 8Y9, Canada"],"affiliations":[{"raw_affiliation_string":"Spacecraft Engineering Division of the Space Technologies, Canadian Space Agency, Saint Hubert, QUE, Canada","institution_ids":["https://openalex.org/I2800055578"]},{"raw_affiliation_string":"Spacecraft Engineering Division of the Space Technologies, Canadian Space Agency, Saint-Hubert, Quebec J3Y 8Y9, 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":2.2962,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.90138819,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"5763","last_page":"5769"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":1.0,"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":1.0,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9994000196456909,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9958999752998352,"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/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.8012202978134155},{"id":"https://openalex.org/keywords/projection","display_name":"Projection (relational algebra)","score":0.7562234401702881},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7273837327957153},{"id":"https://openalex.org/keywords/controllability","display_name":"Controllability","score":0.7193293571472168},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6340900659561157},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4689010679721832},{"id":"https://openalex.org/keywords/dimension","display_name":"Dimension (graph theory)","score":0.4611290991306305},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4569651484489441},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41937902569770813},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3874529004096985},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.19241055846214294},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14082881808280945},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.11208373308181763},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.102836012840271}],"concepts":[{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.8012202978134155},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.7562234401702881},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7273837327957153},{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.7193293571472168},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6340900659561157},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4689010679721832},{"id":"https://openalex.org/C33676613","wikidata":"https://www.wikidata.org/wiki/Q13415176","display_name":"Dimension (graph theory)","level":2,"score":0.4611290991306305},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4569651484489441},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41937902569770813},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3874529004096985},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.19241055846214294},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14082881808280945},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.11208373308181763},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.102836012840271},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2009.5354012","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354012","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8299999833106995,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W419388490","https://openalex.org/W1487127700","https://openalex.org/W1511246908","https://openalex.org/W1975722775","https://openalex.org/W1976523141","https://openalex.org/W1990129855","https://openalex.org/W2057134777","https://openalex.org/W2059122227","https://openalex.org/W2076650116","https://openalex.org/W2102917443","https://openalex.org/W2105174847","https://openalex.org/W2115922583","https://openalex.org/W2117595525","https://openalex.org/W2120329568","https://openalex.org/W2147245217","https://openalex.org/W2162495121","https://openalex.org/W2296319761","https://openalex.org/W2798909945","https://openalex.org/W4250589301"],"related_works":["https://openalex.org/W2036697162","https://openalex.org/W2332386680","https://openalex.org/W2561315646","https://openalex.org/W2248621902","https://openalex.org/W2003779889","https://openalex.org/W4205698120","https://openalex.org/W4239246781","https://openalex.org/W2542825942","https://openalex.org/W3201620972","https://openalex.org/W1496421768"],"abstract_inverted_index":{"This":[0,96],"paper":[1],"presents":[2],"tracking":[3],"and":[4],"set":[5],"point":[6],"controllers":[7,130],"for":[8,137],"parallel":[9,141],"mechanism":[10],"based":[11],"on":[12],"the":[13,25,38,43,46,53,64,77,80,88,99,102,109,113,122,128,135,138],"notion":[14],"of":[15,42,48,72,74,79,101,112,127,140],"a":[16],"projection":[17,49],"operator.":[18],"The":[19,125],"controller":[20,55,82,91,104],"reported":[21],"here":[22],"works":[23],"whether":[24],"system":[26,66],"is":[27,51,97,143],"overactuated":[28],"or":[29,70],"not;":[30],"plus":[31],"one":[32],"does":[33,56],"not":[34,57],"need":[35,58],"to":[36,59,84],"derive":[37],"minimal-order":[39],"dynamics":[40,90],"model":[41],"system.":[44],"Since":[45],"dimension":[47],"matrix":[50,111],"fixed,":[52],"projection-based":[54,81,129],"change":[60],"its":[61,68],"structure":[62,100],"whenever":[63],"mechanical":[65],"changes":[67],"topology":[69],"number":[71],"degrees":[73],"freedom.":[75],"Moreover,":[76],"derivation":[78],"seems":[83],"be":[85,106,119],"simpler":[86],"than":[87],"inverse":[89],"derived":[92,145],"using":[93],"Lagrange-D'Almbert":[94],"formulation.":[95],"because":[98],"former":[103],"can":[105,118],"obtained":[107],"from":[108,121],"Jacobian":[110],"constraints,":[114],"which,":[115],"in":[116,146],"turn,":[117],"deduced":[120],"linkage":[123],"geometry.":[124],"stability":[126],"are":[131,151],"rigourously":[132],"proved,":[133],"while":[134],"condition":[136],"controllability":[139],"manipulators":[142],"also":[144],"detail.":[147],"Finally,":[148],"experimental":[149],"results":[150],"appended.":[152]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}