{"id":"https://openalex.org/W4387987095","doi":"https://doi.org/10.1109/lra.2023.3327867","title":"A Robotic Manipulator Using Dual-Motor Joints: Prototype Design and Anti-Backlash Control","display_name":"A Robotic Manipulator Using Dual-Motor Joints: Prototype Design and Anti-Backlash Control","publication_year":2023,"publication_date":"2023-10-27","ids":{"openalex":"https://openalex.org/W4387987095","doi":"https://doi.org/10.1109/lra.2023.3327867"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3327867","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3327867","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","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/A5021411475","display_name":"Jiqian Xu","orcid":"https://orcid.org/0000-0001-7362-7718"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jiqian Xu","raw_affiliation_strings":["Faculty of Robot Science and Engineering, Northeastern University, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"Faculty of Robot Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080893466","display_name":"Huaizhen Wang","orcid":"https://orcid.org/0000-0002-4077-9990"},"institutions":[{"id":"https://openalex.org/I4210144143","display_name":"Inspur (China)","ror":"https://ror.org/0474p4r72","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210144143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huaizhen Wang","raw_affiliation_strings":["Institute of Shandong New Generation Information Industry Technology, Inspur group, Jinan, China"],"affiliations":[{"raw_affiliation_string":"Institute of Shandong New Generation Information Industry Technology, Inspur group, Jinan, China","institution_ids":["https://openalex.org/I4210144143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103179555","display_name":"Qiankun Zhao","orcid":"https://orcid.org/0000-0002-2635-3328"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiankun Zhao","raw_affiliation_strings":["Faculty of Robot Science and Engineering, Northeastern University, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"Faculty of Robot Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025156061","display_name":"Yue Gao","orcid":"https://orcid.org/0000-0001-9277-1803"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yue Gao","raw_affiliation_strings":["Faculty of Robot Science and Engineering, Northeastern University, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"Faculty of Robot Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085666381","display_name":"Yingcai Wan","orcid":"https://orcid.org/0000-0003-4734-6327"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingcai Wan","raw_affiliation_strings":["Faculty of Robot Science and Engineering, Northeastern University, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"Faculty of Robot Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066932562","display_name":"Lijin Fang","orcid":"https://orcid.org/0000-0002-2410-4870"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lijin Fang","raw_affiliation_strings":["Faculty of Robot Science and Engineering, Northeastern University, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"Faculty of Robot Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5021411475"],"corresponding_institution_ids":["https://openalex.org/I9224756"],"apc_list":null,"apc_paid":null,"fwci":1.0639,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.73729836,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"8","issue":"12","first_page":"8327","last_page":"8334"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13644","display_name":"Control Systems in Engineering","score":0.9987000226974487,"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"}},"topics":[{"id":"https://openalex.org/T13644","display_name":"Control Systems in Engineering","score":0.9987000226974487,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9970999956130981,"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":0.9850999712944031,"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/backlash","display_name":"Backlash","score":0.9663099646568298},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8313828706741333},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5565669536590576},{"id":"https://openalex.org/keywords/active-disturbance-rejection-control","display_name":"Active disturbance rejection control","score":0.5373754501342773},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5171955823898315},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5052006840705872},{"id":"https://openalex.org/keywords/servomotor","display_name":"Servomotor","score":0.48595893383026123},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.41883525252342224},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.41510191559791565},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.40382492542266846},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.3594377040863037},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2615634799003601},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.158381849527359}],"concepts":[{"id":"https://openalex.org/C2776652708","wikidata":"https://www.wikidata.org/wiki/Q584028","display_name":"Backlash","level":2,"score":0.9663099646568298},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8313828706741333},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5565669536590576},{"id":"https://openalex.org/C2778072542","wikidata":"https://www.wikidata.org/wiki/Q4677499","display_name":"Active disturbance rejection control","level":4,"score":0.5373754501342773},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5171955823898315},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5052006840705872},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.48595893383026123},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.41883525252342224},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.41510191559791565},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.40382492542266846},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.3594377040863037},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2615634799003601},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.158381849527359},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3327867","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3327867","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.9100000262260437,"display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G497503247","display_name":null,"funder_award_id":"62273081","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6238239822","display_name":null,"funder_award_id":"2022JH2/101300202","funder_id":"https://openalex.org/F4320323086","funder_display_name":"Natural Science Foundation of Liaoning Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320323086","display_name":"Natural Science Foundation of Liaoning Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1895213532","https://openalex.org/W2007677407","https://openalex.org/W2038160210","https://openalex.org/W2408144412","https://openalex.org/W2465685345","https://openalex.org/W2499948779","https://openalex.org/W2588423609","https://openalex.org/W2805150042","https://openalex.org/W2941276819","https://openalex.org/W2983004896","https://openalex.org/W3031851497","https://openalex.org/W3049404358","https://openalex.org/W3135645257","https://openalex.org/W4211008954","https://openalex.org/W4226251045","https://openalex.org/W4286374949","https://openalex.org/W4293282490","https://openalex.org/W4313057858"],"related_works":["https://openalex.org/W2901768430","https://openalex.org/W2348363276","https://openalex.org/W3013044599","https://openalex.org/W4362547422","https://openalex.org/W2348489906","https://openalex.org/W2071272545","https://openalex.org/W2019724477","https://openalex.org/W2660998314","https://openalex.org/W2362067531","https://openalex.org/W4321515863"],"abstract_inverted_index":{"This":[0],"letter":[1],"focuses":[2],"on":[3,166],"the":[4,18,27,33,38,41,50,82,87,103,121,124,131,157,167],"design":[5],"and":[6,78,129,138,154],"control":[7,30,159],"of":[8,20,37,90,120,126,156],"a":[9,60,106],"novel":[10],"seven-degree-of-freedom":[11],"(7-DOF)":[12],"robotic":[13],"manipulator":[14],"(D-Arm)":[15],"to":[16],"address":[17],"issue":[19],"backlash":[21,91,104,128,149],"nonlinearity":[22],"coupling":[23,92],"unknown":[24,127],"disturbance":[25,74,110],"through":[26,163],"dual-motor":[28,46,107],"anti-backlash":[29],"technology.":[31],"Specifically,":[32],"first":[34,70],"three":[35],"axes":[36,53],"D-Arm":[39],"near":[40],"base":[42],"are":[43,54,161],"implemented":[44],"as":[45,66],"joints":[47,56],"(DMJs),":[48],"while":[49],"remaining":[51],"four":[52],"single-motor":[55],"(SMJs),":[57],"which":[58],"achieve":[59],"more":[61],"comprehensive":[62],"performance.":[63],"For":[64],"DMJs,":[65],"over-actuated":[67],"systems,":[68],"we":[69],"discover":[71],"an":[72,94],"internal":[73],"phenomenon":[75],"named":[76],"servo-conflict":[77],"consider":[79],"it":[80],"in":[81],"controller":[83,112],"design.":[84],"To":[85],"mitigate":[86],"adverse":[88],"effects":[89],"disturbance,":[93,130],"admittance":[95],"control-based":[96],"position":[97,140],"compensator":[98],"is":[99,113],"proposed.":[100],"Then,":[101],"after":[102],"elimination,":[105],"linear":[108],"active":[109],"rejection":[111],"effectively":[114],"developed":[115,158],"for":[116],"load":[117],"tracking":[118,141],"task":[119],"DMJ.":[122],"In":[123],"presence":[125],"proposed":[132],"strategy":[133,160],"can":[134],"improve":[135],"both":[136],"transient":[137],"steady-state":[139],"response,":[142],"reduce":[143],"energy":[144],"consumption":[145],"without":[146],"requiring":[147],"any":[148],"model":[150],"information.":[151],"The":[152],"effectiveness":[153],"simplicity":[155],"verified":[162],"comparative":[164],"experiments":[165],"D-Arm.":[168]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3}],"updated_date":"2026-03-09T08:58:05.943551","created_date":"2025-10-10T00:00:00"}