{"id":"https://openalex.org/W2153940135","doi":"https://doi.org/10.1109/jra.1987.1087077","title":"Control of tool/workpiece contact force with application to robotic deburring","display_name":"Control of tool/workpiece contact force with application to robotic deburring","publication_year":1987,"publication_date":"1987-02-01","ids":{"openalex":"https://openalex.org/W2153940135","doi":"https://doi.org/10.1109/jra.1987.1087077","mag":"2153940135"},"language":"en","primary_location":{"id":"doi:10.1109/jra.1987.1087077","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jra.1987.1087077","pdf_url":null,"source":{"id":"https://openalex.org/S105799543","display_name":"IEEE Journal on Robotics and Automation","issn_l":"0882-4967","issn":["0882-4967","2374-8710"],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Journal on Robotics and Automation","raw_type":"journal-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/A5111969423","display_name":"Thomas M. Stepien","orcid":null},"institutions":[{"id":"https://openalex.org/I1332737386","display_name":"General Electric (United States)","ror":"https://ror.org/013msgt25","country_code":"US","type":"company","lineage":["https://openalex.org/I1332737386"]},{"id":"https://openalex.org/I1343143571","display_name":"Draper Laboratory","ror":"https://ror.org/04378d909","country_code":"US","type":"funder","lineage":["https://openalex.org/I1343143571"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"T. Stepien","raw_affiliation_strings":["General Electric Corporate Research and Development Center, Schenectady, NY, USA","The Charles Stark Draper Laboratory, Inc., Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"General Electric Corporate Research and Development Center, Schenectady, NY, USA","institution_ids":["https://openalex.org/I1332737386"]},{"raw_affiliation_string":"The Charles Stark Draper Laboratory, Inc., Cambridge, MA, USA","institution_ids":["https://openalex.org/I1343143571"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113119158","display_name":"L. M. Sweet","orcid":null},"institutions":[{"id":"https://openalex.org/I1332737386","display_name":"General Electric (United States)","ror":"https://ror.org/013msgt25","country_code":"US","type":"company","lineage":["https://openalex.org/I1332737386"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"L. Sweet","raw_affiliation_strings":["General Electric Corporate Research and Development Center, Schenectady, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"General Electric Corporate Research and Development Center, Schenectady, NY, USA","institution_ids":["https://openalex.org/I1332737386"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051441409","display_name":"M C Good","orcid":"https://orcid.org/0000-0003-3671-1384"},"institutions":[{"id":"https://openalex.org/I1332737386","display_name":"General Electric (United States)","ror":"https://ror.org/013msgt25","country_code":"US","type":"company","lineage":["https://openalex.org/I1332737386"]},{"id":"https://openalex.org/I4210101388","display_name":"Health Sciences and Nutrition","ror":"https://ror.org/0152bt112","country_code":"AU","type":"facility","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4210101388","https://openalex.org/I4387156119"]}],"countries":["AU","US"],"is_corresponding":false,"raw_author_name":"M. Good","raw_affiliation_strings":["Australian Commonwealth Scientific and Industrial Research Organization, Melbourne, Australia","General Electric Corporate Research and Development Center, Schenectady, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Australian Commonwealth Scientific and Industrial Research Organization, Melbourne, Australia","institution_ids":["https://openalex.org/I4210101388"]},{"raw_affiliation_string":"General Electric Corporate Research and Development Center, Schenectady, NY, USA","institution_ids":["https://openalex.org/I1332737386"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064077634","display_name":"Masayoshi Tomizuka","orcid":"https://orcid.org/0000-0003-0206-6639"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. Tomizuka","raw_affiliation_strings":["University of California, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":11.6075,"has_fulltext":false,"cited_by_count":105,"citation_normalized_percentile":{"value":0.98721859,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"3","issue":"1","first_page":"7","last_page":"18"},"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/T11301","display_name":"Advanced Surface Polishing Techniques","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/T10188","display_name":"Advanced machining processes and optimization","score":0.9945999979972839,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6713283061981201},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6681579351425171},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.5674905180931091},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5422807931900024},{"id":"https://openalex.org/keywords/enhanced-data-rates-for-gsm-evolution","display_name":"Enhanced Data Rates for GSM Evolution","score":0.531559407711029},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4999206066131592},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.49869871139526367},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.44942426681518555},{"id":"https://openalex.org/keywords/root-mean-square","display_name":"Root mean square","score":0.42961353063583374},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.39820510149002075},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39172446727752686},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37063485383987427},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.30023443698883057},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22802740335464478},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15669867396354675},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.06771880388259888}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6713283061981201},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6681579351425171},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5674905180931091},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5422807931900024},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.531559407711029},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4999206066131592},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.49869871139526367},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.44942426681518555},{"id":"https://openalex.org/C71907059","wikidata":"https://www.wikidata.org/wiki/Q223323","display_name":"Root mean square","level":2,"score":0.42961353063583374},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39820510149002075},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39172446727752686},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37063485383987427},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.30023443698883057},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22802740335464478},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15669867396354675},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.06771880388259888},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jra.1987.1087077","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jra.1987.1087077","pdf_url":null,"source":{"id":"https://openalex.org/S105799543","display_name":"IEEE Journal on Robotics and Automation","issn_l":"0882-4967","issn":["0882-4967","2374-8710"],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Journal on Robotics and Automation","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.8299999833106995}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1516493184","https://openalex.org/W1537940657","https://openalex.org/W1967377907","https://openalex.org/W2013575527","https://openalex.org/W2016958754","https://openalex.org/W2034052310","https://openalex.org/W2100134099","https://openalex.org/W2105660272","https://openalex.org/W2109773723","https://openalex.org/W2126747268","https://openalex.org/W2133686946","https://openalex.org/W2141170102","https://openalex.org/W2148896337","https://openalex.org/W2150367199","https://openalex.org/W2375099263","https://openalex.org/W2731607515","https://openalex.org/W2732584608","https://openalex.org/W2917344177","https://openalex.org/W3021372620","https://openalex.org/W4250904644","https://openalex.org/W6604855227","https://openalex.org/W6653889141","https://openalex.org/W6740521154"],"related_works":["https://openalex.org/W2002388147","https://openalex.org/W3098928304","https://openalex.org/W2394883510","https://openalex.org/W2023324176","https://openalex.org/W2150958483","https://openalex.org/W2922503265","https://openalex.org/W3097920840","https://openalex.org/W2165013373","https://openalex.org/W3212795132","https://openalex.org/W1787078821"],"abstract_inverted_index":{"The":[0,23,153,177],"design":[1],"and":[2,18,108,169,195],"implementation":[3],"of":[4,69,155,172,179,192],"a":[5,14,19,30,97],"microprocessor-based":[6],"system":[7,25,159],"to":[8,40,52,121,138,149,183],"control":[9,24,56,101,158],"the":[10,44,53,75,94,114,125,156,166,173],"interaction":[11],"forces":[12,39],"between":[13],"five-axis":[15],"articulated":[16],"robot":[17,31,76],"workpiece":[20],"is":[21,84],"described.":[22],"worked":[26],"in":[27,43,67,74,104,190],"parallel":[28],"with":[29,186],"controller":[32],"by":[33,72],"calculating":[34],"position":[35,55],"corrections":[36,48],"that":[37,86],"allowed":[38],"be":[41,90,184],"controlled":[42],"desired":[45],"manner.":[46],"These":[47],"were":[49,65],"successfully":[50],"interfaced":[51],"controller's":[54],"loop":[57],"on":[58],"an":[59],"individual-axis":[60],"level.":[61],"Stable":[62],"force-control":[63],"algorithms":[64],"designed":[66],"spite":[68],"limitations":[70],"imposed":[71],"flexibility":[73],"drive":[77],"train.":[78],"For":[79],"multi-degree-of-freedom":[80],"force":[81,117,130,157,168],"control,":[82],"it":[83],"shown":[85,182],"each":[87],"axis":[88],"can":[89],"considered":[91],"autonomous,":[92],"obviating":[93],"need":[95],"for":[96],"multivariable":[98],"approach.":[99],"Force":[100],"was":[102,145,163,181],"implemented":[103],"both":[105],"edge":[106,112],"following":[107],"deburring":[109,161,188],"experiments.":[110],"In":[111],"following,":[113],"commanded":[115],"normal":[116],"ranged":[118],"from":[119,136,147],"1":[120,148],"15":[122],"N,":[123],"while":[124],"root":[126],"mean":[127],"square":[128],"(rms)":[129],"errors":[131],"remained":[132],"constant.":[133],"Errors":[134],"increased":[135,146],"0.5":[137],"1.5":[139],"N":[140],"rms":[141],"as":[142],"tangential":[143],"speed":[144,170],"9":[150],"cm":[151],"s-1.":[152],"performance":[154],"during":[160],"operations":[162,189],"characterized":[164],"across":[165],"full":[167],"range":[171],"cutting":[174],"tools":[175],"used.":[176],"smoothness":[178],"cut":[180],"consistent":[185],"manual":[187],"terms":[191],"optimal":[193],"feed":[194],"metal":[196],"removal":[197],"rates.":[198]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":10},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}
