{"id":"https://openalex.org/W2048017417","doi":"https://doi.org/10.1109/jsyst.2014.2358876","title":"A Hybrid Switched Reactive-Based Visual Servo Control of 5-DOF Robot Manipulators for Pick-and-Place Tasks","display_name":"A Hybrid Switched Reactive-Based Visual Servo Control of 5-DOF Robot Manipulators for Pick-and-Place Tasks","publication_year":2015,"publication_date":"2015-01-17","ids":{"openalex":"https://openalex.org/W2048017417","doi":"https://doi.org/10.1109/jsyst.2014.2358876","mag":"2048017417"},"language":"en","primary_location":{"id":"doi:10.1109/jsyst.2014.2358876","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jsyst.2014.2358876","pdf_url":null,"source":{"id":"https://openalex.org/S95999327","display_name":"IEEE Systems Journal","issn_l":"1932-8184","issn":["1932-8184","1937-9234","2373-7816"],"is_oa":false,"is_in_doaj":false,"is_core":true,"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 Systems Journal","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/A5032965319","display_name":"Chi\u2010Yi Tsai","orcid":"https://orcid.org/0000-0001-9872-4338"},"institutions":[{"id":"https://openalex.org/I107470533","display_name":"Tamkang University","ror":"https://ror.org/04tft4718","country_code":"TW","type":"education","lineage":["https://openalex.org/I107470533"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Chi-Yi Tsai","raw_affiliation_strings":["Department of Electrical Engineering, Tamkang University, Taipei, Taiwan","Dept. of Electr. Eng., TamKang Univ., Taipei, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Tamkang University, Taipei, Taiwan","institution_ids":["https://openalex.org/I107470533"]},{"raw_affiliation_string":"Dept. of Electr. Eng., TamKang Univ., Taipei, Taiwan","institution_ids":["https://openalex.org/I107470533"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037232729","display_name":"Ching\u2010Chang Wong","orcid":"https://orcid.org/0000-0003-1095-728X"},"institutions":[{"id":"https://openalex.org/I107470533","display_name":"Tamkang University","ror":"https://ror.org/04tft4718","country_code":"TW","type":"education","lineage":["https://openalex.org/I107470533"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Ching-Chang Wong","raw_affiliation_strings":["Department of Electrical Engineering, Tamkang University, Taipei, Taiwan","Dept. of Electr. Eng., TamKang Univ., Taipei, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Tamkang University, Taipei, Taiwan","institution_ids":["https://openalex.org/I107470533"]},{"raw_affiliation_string":"Dept. of Electr. Eng., TamKang Univ., Taipei, Taiwan","institution_ids":["https://openalex.org/I107470533"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022362374","display_name":"Chia-Jun Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I107470533","display_name":"Tamkang University","ror":"https://ror.org/04tft4718","country_code":"TW","type":"education","lineage":["https://openalex.org/I107470533"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chia-Jun Yu","raw_affiliation_strings":["Department of Electrical Engineering, Tamkang University, Taipei, Taiwan","Dept. of Electr. Eng., TamKang Univ., Taipei, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Tamkang University, Taipei, Taiwan","institution_ids":["https://openalex.org/I107470533"]},{"raw_affiliation_string":"Dept. of Electr. Eng., TamKang Univ., Taipei, Taiwan","institution_ids":["https://openalex.org/I107470533"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018955034","display_name":"Chih\u2010Cheng Liu","orcid":"https://orcid.org/0000-0002-1284-9840"},"institutions":[{"id":"https://openalex.org/I107470533","display_name":"Tamkang University","ror":"https://ror.org/04tft4718","country_code":"TW","type":"education","lineage":["https://openalex.org/I107470533"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chih-Cheng Liu","raw_affiliation_strings":["Department of Electrical Engineering, Tamkang University, Taipei, Taiwan","Dept. of Electr. Eng., TamKang Univ., Taipei, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Tamkang University, Taipei, Taiwan","institution_ids":["https://openalex.org/I107470533"]},{"raw_affiliation_string":"Dept. of Electr. Eng., TamKang Univ., Taipei, Taiwan","institution_ids":["https://openalex.org/I107470533"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043042172","display_name":"Tsung-Yen Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I107470533","display_name":"Tamkang University","ror":"https://ror.org/04tft4718","country_code":"TW","type":"education","lineage":["https://openalex.org/I107470533"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Tsung-Yen Liu","raw_affiliation_strings":["Department of Electrical Engineering, Tamkang University, Taipei, Taiwan","Dept. of Electr. Eng., TamKang Univ., Taipei, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Tamkang University, Taipei, Taiwan","institution_ids":["https://openalex.org/I107470533"]},{"raw_affiliation_string":"Dept. of Electr. Eng., TamKang Univ., Taipei, Taiwan","institution_ids":["https://openalex.org/I107470533"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5032965319"],"corresponding_institution_ids":["https://openalex.org/I107470533"],"apc_list":null,"apc_paid":null,"fwci":3.5575,"has_fulltext":false,"cited_by_count":63,"citation_normalized_percentile":{"value":0.95209246,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"9","issue":"1","first_page":"119","last_page":"130"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11992","display_name":"CCD and CMOS Imaging Sensors","score":0.9882000088691711,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/computer-science","display_name":"Computer science","score":0.604150116443634},{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.6003624796867371},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5991448163986206},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5908377766609192},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.5393301248550415},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.5351885557174683},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5301573872566223},{"id":"https://openalex.org/keywords/servomechanism","display_name":"Servomechanism","score":0.4971213638782501},{"id":"https://openalex.org/keywords/servo-control","display_name":"Servo control","score":0.4867665767669678},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.4598664939403534},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4538815915584564},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.43283021450042725},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4096054434776306},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29594776034355164},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15405818819999695}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.604150116443634},{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.6003624796867371},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5991448163986206},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5908377766609192},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.5393301248550415},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.5351885557174683},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5301573872566223},{"id":"https://openalex.org/C49503481","wikidata":"https://www.wikidata.org/wiki/Q640815","display_name":"Servomechanism","level":2,"score":0.4971213638782501},{"id":"https://openalex.org/C32731416","wikidata":"https://www.wikidata.org/wiki/Q7455930","display_name":"Servo control","level":3,"score":0.4867665767669678},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.4598664939403534},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4538815915584564},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.43283021450042725},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4096054434776306},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29594776034355164},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15405818819999695},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/jsyst.2014.2358876","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jsyst.2014.2358876","pdf_url":null,"source":{"id":"https://openalex.org/S95999327","display_name":"IEEE Systems Journal","issn_l":"1932-8184","issn":["1932-8184","1937-9234","2373-7816"],"is_oa":false,"is_in_doaj":false,"is_core":true,"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 Systems Journal","raw_type":"journal-article"},{"id":"pmh:oai:tkuir.lib.tku.edu.tw:987654321/101015","is_oa":false,"landing_page_url":"https://tkuir.lib.tku.edu.tw/dspace/handle/987654321/101015","pdf_url":null,"source":{"id":"https://openalex.org/S4406922698","display_name":"Tamkang University Institutional Repository (TKUIR)","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":null,"raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.41999998688697815}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W152243833","https://openalex.org/W1487678510","https://openalex.org/W1493082767","https://openalex.org/W1496777766","https://openalex.org/W1588930738","https://openalex.org/W1625145155","https://openalex.org/W1981518010","https://openalex.org/W2016381855","https://openalex.org/W2041610206","https://openalex.org/W2056215075","https://openalex.org/W2082991751","https://openalex.org/W2091643726","https://openalex.org/W2097278338","https://openalex.org/W2107124751","https://openalex.org/W2111691855","https://openalex.org/W2115645577","https://openalex.org/W2125627762","https://openalex.org/W2129655359","https://openalex.org/W2135047584","https://openalex.org/W2141914795","https://openalex.org/W2152596904","https://openalex.org/W2157593358","https://openalex.org/W2167501464","https://openalex.org/W2167532125","https://openalex.org/W2172000360","https://openalex.org/W2430970499","https://openalex.org/W4376537957","https://openalex.org/W6629561308","https://openalex.org/W6676997841","https://openalex.org/W6684467955"],"related_works":["https://openalex.org/W2386445060","https://openalex.org/W1937909356","https://openalex.org/W2125927339","https://openalex.org/W1938633970","https://openalex.org/W3213643209","https://openalex.org/W2347688224","https://openalex.org/W2358923053","https://openalex.org/W2353568228","https://openalex.org/W2356061576","https://openalex.org/W2074152015"],"abstract_inverted_index":{"This":[0,99],"paper":[1],"addresses":[2],"the":[3,33,51,55,58,62,94,104,114,135,140,147,150],"problem":[4,43],"of":[5,57,96,106,124,139,149],"visual":[6,23,107,141,152],"servo":[7,24,108,142,153],"control":[8,25,116,154],"for":[9],"a":[10,29,71,88,119,157],"five-degree-of-freedom":[11],"robot":[12],"manipulator":[13],"to":[14,40,50,79,87,102],"perform":[15],"pick-and-place":[16],"tasks.":[17],"A":[18],"new":[19],"hybrid":[20,120],"switched":[21],"reactive-based":[22],"structure,":[26],"inspired":[27],"from":[28],"sensing-and-reaction":[30],"behavior":[31],"without":[32],"inverse":[34],"interaction":[35],"matrix":[36],"computing,":[37],"is":[38,48,77,118],"proposed":[39,46,115,151],"handle":[41],"this":[42],"efficiently.":[44],"The":[45],"structure":[47],"similar":[49],"logic-based":[52],"approaches,":[53],"but":[54],"requirements":[56],"fuzzy":[59],"modeling":[60],"and/or":[61],"fuzzy-rule":[63],"base":[64],"learning":[65],"are":[66],"omitted.":[67],"To":[68],"achieve":[69],"this,":[70],"novel":[72],"hardware-aware":[73],"reactive":[74,129],"function":[75],"approach":[76,100],"presented":[78],"directly":[80],"map":[81],"an":[82],"image":[83],"position":[84],"error":[85],"vector":[86,92],"desired":[89],"end-effector":[90],"velocity":[91],"under":[93],"consideration":[95],"hardware":[97],"limitations.":[98],"helps":[101],"simplify":[103],"implementation":[105],"systems":[109],"with":[110],"improved":[111],"reliability.":[112],"Moreover,":[113],"system":[117],"switching":[121],"controller":[122],"consisting":[123],"both":[125],"image-based":[126],"and":[127,137],"position-based":[128],"planning":[130],"schemes,":[131],"which":[132],"allows":[133],"improving":[134],"robustness":[136],"effectiveness":[138],"system.":[143],"Experimental":[144],"results":[145],"validate":[146],"performance":[148],"method":[155],"in":[156],"realistic":[158],"scenario":[159],"setting.":[160]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":9},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":4}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
