{"id":"https://openalex.org/W4312254566","doi":"https://doi.org/10.1109/iros47612.2022.9981997","title":"Data-Driven Kinematic Control Scheme for Cable-Driven Parallel Robots Allowing Collisions","display_name":"Data-Driven Kinematic Control Scheme for Cable-Driven Parallel Robots Allowing Collisions","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312254566","doi":"https://doi.org/10.1109/iros47612.2022.9981997"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981997","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981997","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5055301437","display_name":"Yongwei Zou","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yongwei Zou","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology,Shenzhen,People's Republic of China,518055"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology,Shenzhen,People's Republic of China,518055","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075918446","display_name":"Yusheng Hu","orcid":"https://orcid.org/0000-0003-4335-4506"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yusheng Hu","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology,Shenzhen,People's Republic of China,518055"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology,Shenzhen,People's Republic of China,518055","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056097024","display_name":"Huanhui Cao","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huanhui Cao","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology,Shenzhen,People's Republic of China,518055"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology,Shenzhen,People's Republic of China,518055","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036530465","display_name":"Yuchen Xu","orcid":"https://orcid.org/0009-0004-9237-2318"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuchen Xu","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology,Shenzhen,People's Republic of China,518055"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology,Shenzhen,People's Republic of China,518055","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083932301","display_name":"Yuanjie Yu","orcid":"https://orcid.org/0000-0002-0924-0882"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanjie Yu","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology,Shenzhen,People's Republic of China,518055"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology,Shenzhen,People's Republic of China,518055","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057254939","display_name":"Wenjie Lu","orcid":"https://orcid.org/0000-0003-1677-3633"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenjie Lu","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology,Shenzhen,People's Republic of China,518055"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology,Shenzhen,People's Republic of China,518055","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020519245","display_name":"Hao Xiong","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Xiong","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology,Shenzhen,People's Republic of China,518055"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology,Shenzhen,People's Republic of China,518055","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5055301437"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":5.3168,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.9760364,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"5003","last_page":"5008"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9986000061035156,"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":0.9986000061035156,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9951000213623047,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.9900000095367432,"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/workspace","display_name":"Workspace","score":0.8025587201118469},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7418816685676575},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6594580411911011},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"Forward kinematics","score":0.6363959312438965},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.6305593848228455},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.6187392473220825},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5657156109809875},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.46225374937057495},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.43410351872444153},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.43393203616142273},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.42519402503967285},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41619938611984253},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14695236086845398},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13741496205329895},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12489432096481323},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.12007850408554077},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0902990996837616}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8025587201118469},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7418816685676575},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6594580411911011},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.6363959312438965},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.6305593848228455},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.6187392473220825},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5657156109809875},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.46225374937057495},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.43410351872444153},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.43393203616142273},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.42519402503967285},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41619938611984253},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14695236086845398},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13741496205329895},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12489432096481323},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.12007850408554077},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0902990996837616},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","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/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/iros47612.2022.9981997","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981997","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.6800000071525574,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W77704476","https://openalex.org/W1522301498","https://openalex.org/W1569512666","https://openalex.org/W1965391287","https://openalex.org/W1994478620","https://openalex.org/W2001844647","https://openalex.org/W2007271002","https://openalex.org/W2014436657","https://openalex.org/W2020966348","https://openalex.org/W2030978043","https://openalex.org/W2087091319","https://openalex.org/W2109873680","https://openalex.org/W2161085359","https://openalex.org/W2793497540","https://openalex.org/W2883710096","https://openalex.org/W2898259107","https://openalex.org/W2911423343","https://openalex.org/W3004528460","https://openalex.org/W3048341640","https://openalex.org/W3113476294","https://openalex.org/W3172994660","https://openalex.org/W3192385499","https://openalex.org/W4224305648","https://openalex.org/W4285792042","https://openalex.org/W6631190155","https://openalex.org/W6653934838"],"related_works":["https://openalex.org/W2119719871","https://openalex.org/W2811382984","https://openalex.org/W1971821535","https://openalex.org/W4283266117","https://openalex.org/W3134555460","https://openalex.org/W2357499095","https://openalex.org/W2004793478","https://openalex.org/W2172144564","https://openalex.org/W3016367173","https://openalex.org/W3179890939"],"abstract_inverted_index":{"Cable-Driven":[0],"Parallel":[1],"Robots":[2],"(CDPRs)":[3],"have":[4],"been":[5],"proposed":[6],"for":[7,51],"a":[8,44,54,65,84,108,142],"variety":[9],"of":[10,23,28,34,42,92,95,103,119,122,132,140],"applications":[11],"such":[12],"as":[13],"material":[14],"handling,":[15],"rehabilitation,":[16],"and":[17,30,67],"instrumentation.":[18],"However,":[19],"the":[20,26,31,39,68,71,76,78,93,96,100,104,112,116,120,125,130,133],"collision-free":[21,40],"constraint":[22,41],"CDPRs":[24,29],"limits":[25],"workspace":[27],"feasible":[32],"position":[33],"anchor":[35],"points.":[36],"To":[37,73,128],"address":[38],"CDPRs,":[43,52],"data-driven":[45,79,135],"kinematic":[46,80,136],"control":[47,57,81,109,137],"scheme":[48,82],"is":[49],"developed":[50,134],"enabling":[53],"CDPR":[55,144],"to":[56,106,115],"its":[58],"pose":[59],"even":[60],"if":[61],"suffering":[62],"collisions":[63,149],"between":[64],"cable":[66],"base":[69],"or":[70],"end-effector.":[72],"deal":[74],"with":[75,145],"collisions,":[77],"utilizes":[83],"motion":[85,94],"model":[86],"obtained":[87],"based":[88],"on":[89],"data":[90],"samples":[91],"CDPR,":[97,105],"rather":[98],"than":[99],"Jacobian":[101],"matrix":[102],"map":[107],"law":[110],"in":[111,124],"task":[113],"space":[114],"time":[117],"derivative":[118],"length":[121],"cables":[123,147],"joint":[126],"space.":[127],"evaluate":[129],"effectiveness":[131],"scheme,":[138],"experiments":[139],"controlling":[141],"suspended":[143],"two":[146],"allowing":[148],"are":[150],"conducted.":[151]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}