{"id":"https://openalex.org/W4392667166","doi":"https://doi.org/10.1109/lra.2024.3375292","title":"Workspace Nonlinear Disturbance Observer for Robust Position Control of Flexible Joint Robots","display_name":"Workspace Nonlinear Disturbance Observer for Robust Position Control of Flexible Joint Robots","publication_year":2024,"publication_date":"2024-03-11","ids":{"openalex":"https://openalex.org/W4392667166","doi":"https://doi.org/10.1109/lra.2024.3375292"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3375292","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3375292","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/A5041374458","display_name":"Deokjin Lee","orcid":"https://orcid.org/0009-0005-9218-9692"},"institutions":[{"id":"https://openalex.org/I193352282","display_name":"Daegu Gyeongbuk Institute of Science and Technology","ror":"https://ror.org/03frjya69","country_code":"KR","type":"education","lineage":["https://openalex.org/I193352282"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Deokjin Lee","raw_affiliation_strings":["Department of Robotics and Mechatronics Engineering, Daegu Gyeongbuk Institute of Science and Technology, Daegu, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Robotics and Mechatronics Engineering, Daegu Gyeongbuk Institute of Science and Technology, Daegu, South Korea","institution_ids":["https://openalex.org/I193352282"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062205470","display_name":"Juhoon Back","orcid":"https://orcid.org/0000-0002-6789-3718"},"institutions":[{"id":"https://openalex.org/I161024014","display_name":"Kwangwoon University","ror":"https://ror.org/02e9zc863","country_code":"KR","type":"education","lineage":["https://openalex.org/I161024014"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Juhoon Back","raw_affiliation_strings":["School of Robotics, Kwangwoon University, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Robotics, Kwangwoon University, Seoul, South Korea","institution_ids":["https://openalex.org/I161024014"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007243736","display_name":"Sehoon Oh","orcid":"https://orcid.org/0000-0003-0838-163X"},"institutions":[{"id":"https://openalex.org/I193352282","display_name":"Daegu Gyeongbuk Institute of Science and Technology","ror":"https://ror.org/03frjya69","country_code":"KR","type":"education","lineage":["https://openalex.org/I193352282"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sehoon Oh","raw_affiliation_strings":["Department of Robotics and Mechatronics Engineering, Daegu Gyeongbuk Institute of Science and Technology, Daegu, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Robotics and Mechatronics Engineering, Daegu Gyeongbuk Institute of Science and Technology, Daegu, South Korea","institution_ids":["https://openalex.org/I193352282"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5041374458"],"corresponding_institution_ids":["https://openalex.org/I193352282"],"apc_list":null,"apc_paid":null,"fwci":3.403,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.92668011,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"9","issue":"5","first_page":"4495","last_page":"4502"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9983999729156494,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9983999729156494,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9980999827384949,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9976999759674072,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7310932874679565},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6972794532775879},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6174997687339783},{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.6042276620864868},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.5931812524795532},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5656532645225525},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5608965754508972},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5487188100814819},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.41028088331222534},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3756615221500397},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.35756051540374756},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.308795690536499},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2475544512271881},{"id":"https://openalex.org/keywords/economics","display_name":"Economics","score":0.07884341478347778},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.0706116259098053},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.06174662709236145},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.05446478724479675}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7310932874679565},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6972794532775879},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6174997687339783},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.6042276620864868},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.5931812524795532},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5656532645225525},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5608965754508972},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5487188100814819},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.41028088331222534},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3756615221500397},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.35756051540374756},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.308795690536499},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2475544512271881},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.07884341478347778},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0706116259098053},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.06174662709236145},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.05446478724479675},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3375292","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3375292","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":[{"display_name":"Climate action","score":0.47999998927116394,"id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W189803804","https://openalex.org/W1509235676","https://openalex.org/W1535570778","https://openalex.org/W1974513221","https://openalex.org/W1975669935","https://openalex.org/W2092959905","https://openalex.org/W2116336719","https://openalex.org/W2117005307","https://openalex.org/W2137165191","https://openalex.org/W2138327849","https://openalex.org/W2167808181","https://openalex.org/W2230652337","https://openalex.org/W2297730688","https://openalex.org/W2418313965","https://openalex.org/W2523980053","https://openalex.org/W2566495809","https://openalex.org/W2762248135","https://openalex.org/W2769454729","https://openalex.org/W2872947583","https://openalex.org/W2943836386","https://openalex.org/W3140541177"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2109948066","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W38056103","https://openalex.org/W1999333556"],"abstract_inverted_index":{"Control":[0],"of":[1,53,99,122,168],"tasks":[2],"by":[3,162],"Flexible":[4],"Joint":[5],"Robots":[6],"(FJR)":[7],"is":[8,27,61,76,105,114,159,172,181],"highly":[9],"susceptible":[10],"to":[11,24,95],"disturbances,":[12],"coupling,":[13],"and":[14,57,97,142,176,178],"vibrations":[15],"that":[16,129,151],"result":[17],"from":[18,153],"joint":[19,39,86],"elasticity.":[20],"A":[21,107],"possible":[22],"solution":[23],"this":[25,42,90],"problem":[26,150],"a":[28,67,92],"Disturbance":[29],"Observer":[30],"(DOB),":[31],"which":[32],"can":[33],"address":[34],"these":[35,65],"issues":[36],"in":[37,73,102],"the":[38,51,74,85,100,103,119,131,148,163,169],"space.":[40],"However,":[41],"approach":[43,94],"has":[44,82],"limitations":[45],"for":[46,71,112,156,161],"workspace":[47,58,75,104,109,132,143,157],"motion":[48],"control,":[49,134],"as":[50,124,126,136],"effect":[52],"nonlinear":[54,110],"link":[55],"dynamics":[56,121],"coupling":[59,144],"force":[60],"not":[62],"considered.":[63],"For":[64],"reasons,":[66],"novel":[68,93],"DOB":[69,87,111,158],"design":[70],"FJR":[72,101,113,123,155],"deemed":[77],"necessary,":[78],"yet":[79],"most":[80],"research":[81],"focused":[83],"on":[84],"design.":[88],"In":[89,146],"letter,":[91],"modeling":[96,154],"control":[98],"proposed.":[106],"robust":[108],"developed,":[115],"taking":[116],"into":[117],"consideration":[118],"coupled":[120],"well":[125],"various":[127],"disturbances":[128],"deteriorate":[130],"position":[133],"such":[135],"motor/link":[137],"side":[138],"disturbance,":[139],"inertia":[140],"variation,":[141],"force.":[145],"addition,":[147],"singularity":[149],"arises":[152],"accounted":[160],"proposed":[164,170],"method.":[165],"The":[166],"effectiveness":[167],"method":[171],"demonstrated":[173],"through":[174],"simulations":[175],"experiments,":[177],"its":[179],"stability":[180],"also":[182],"verified.":[183]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":5}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
