{"id":"https://openalex.org/W4297685019","doi":"https://doi.org/10.1109/mmar55195.2022.9874326","title":"Force-Control Capabilities for Lightweight Industrial Robots","display_name":"Force-Control Capabilities for Lightweight Industrial Robots","publication_year":2022,"publication_date":"2022-08-22","ids":{"openalex":"https://openalex.org/W4297685019","doi":"https://doi.org/10.1109/mmar55195.2022.9874326"},"language":"en","primary_location":{"id":"doi:10.1109/mmar55195.2022.9874326","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mmar55195.2022.9874326","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","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/A5001383747","display_name":"Christian Thormann","orcid":null},"institutions":[{"id":"https://openalex.org/I116397343","display_name":"Hochschule Mittweida","ror":"https://ror.org/024ga3r86","country_code":"DE","type":"education","lineage":["https://openalex.org/I116397343"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Christian Thormann","raw_affiliation_strings":["Hochschule Mittweida, UAS,Department of Automation,Mittweida,Germany","Department of Automation, Hochschule Mittweida, UAS, Mittweida, Germany"],"affiliations":[{"raw_affiliation_string":"Hochschule Mittweida, UAS,Department of Automation,Mittweida,Germany","institution_ids":["https://openalex.org/I116397343"]},{"raw_affiliation_string":"Department of Automation, Hochschule Mittweida, UAS, Mittweida, Germany","institution_ids":["https://openalex.org/I116397343"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050393460","display_name":"Mohammad Ehsan Matour","orcid":"https://orcid.org/0000-0002-8804-9559"},"institutions":[{"id":"https://openalex.org/I116397343","display_name":"Hochschule Mittweida","ror":"https://ror.org/024ga3r86","country_code":"DE","type":"education","lineage":["https://openalex.org/I116397343"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Mohammad Ehsan Matour","raw_affiliation_strings":["Hochschule Mittweida, UAS,Department of Automation,Mittweida,Germany","Department of Automation, Hochschule Mittweida, UAS, Mittweida, Germany"],"affiliations":[{"raw_affiliation_string":"Hochschule Mittweida, UAS,Department of Automation,Mittweida,Germany","institution_ids":["https://openalex.org/I116397343"]},{"raw_affiliation_string":"Department of Automation, Hochschule Mittweida, UAS, Mittweida, Germany","institution_ids":["https://openalex.org/I116397343"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071181618","display_name":"Alexander Winkler","orcid":"https://orcid.org/0000-0003-1839-0855"},"institutions":[{"id":"https://openalex.org/I116397343","display_name":"Hochschule Mittweida","ror":"https://ror.org/024ga3r86","country_code":"DE","type":"education","lineage":["https://openalex.org/I116397343"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexander Winkler","raw_affiliation_strings":["Hochschule Mittweida, UAS,Department of Automation,Mittweida,Germany","Department of Automation, Hochschule Mittweida, UAS, Mittweida, Germany"],"affiliations":[{"raw_affiliation_string":"Hochschule Mittweida, UAS,Department of Automation,Mittweida,Germany","institution_ids":["https://openalex.org/I116397343"]},{"raw_affiliation_string":"Department of Automation, Hochschule Mittweida, UAS, Mittweida, Germany","institution_ids":["https://openalex.org/I116397343"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5001383747"],"corresponding_institution_ids":["https://openalex.org/I116397343"],"apc_list":null,"apc_paid":null,"fwci":0.1205,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.4178305,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"205","last_page":"210"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":1.0,"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":1.0,"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":0.9969000220298767,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9954000115394592,"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/robot","display_name":"Robot","score":0.7652683854103088},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6794236302375793},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.6058844327926636},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5785300135612488},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.550370454788208},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5310987234115601},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46535947918891907},{"id":"https://openalex.org/keywords/precast-concrete","display_name":"Precast concrete","score":0.4364534020423889},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.43142417073249817},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4269663989543915},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39160338044166565},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.35472792387008667},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3463813066482544},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2241426706314087},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16070714592933655},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10134214162826538},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.08494332432746887}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7652683854103088},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6794236302375793},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.6058844327926636},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5785300135612488},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.550370454788208},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5310987234115601},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46535947918891907},{"id":"https://openalex.org/C125450124","wikidata":"https://www.wikidata.org/wiki/Q831541","display_name":"Precast concrete","level":2,"score":0.4364534020423889},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.43142417073249817},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4269663989543915},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39160338044166565},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.35472792387008667},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3463813066482544},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2241426706314087},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16070714592933655},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10134214162826538},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.08494332432746887},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mmar55195.2022.9874326","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mmar55195.2022.9874326","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1557315787","https://openalex.org/W1567159356","https://openalex.org/W1967377907","https://openalex.org/W1972500617","https://openalex.org/W2016958754","https://openalex.org/W2023000228","https://openalex.org/W2036375864","https://openalex.org/W2112474089","https://openalex.org/W2121693658","https://openalex.org/W2129367746","https://openalex.org/W2135569231","https://openalex.org/W2150367199","https://openalex.org/W2156102255","https://openalex.org/W2757015609","https://openalex.org/W3021339841"],"related_works":["https://openalex.org/W2157702526","https://openalex.org/W2570672926","https://openalex.org/W4378191988","https://openalex.org/W3210882399","https://openalex.org/W1984186897","https://openalex.org/W1976172674","https://openalex.org/W1979819035","https://openalex.org/W4400124295","https://openalex.org/W1854444597","https://openalex.org/W2139206564"],"abstract_inverted_index":{"This":[0],"paper":[1,80],"investigates":[2],"the":[3,31,52,67,93,107,110,122,127,134,154,157],"capabilities":[4],"of":[5,44,95,124,156],"lightweight":[6],"industrial":[7],"robots":[8,15,97],"with":[9,25,114],"respect":[10],"to":[11,37,59,91,152],"force/torque":[12,28],"control.":[13,87],"Two":[14],"were":[16,137],"chosen":[17],"for":[18,85],"this":[19,79],"investigation.":[20],"One":[21],"robot":[22,45,68],"was":[23,131,148],"equipped":[24],"an":[26],"internal":[27],"sensor,":[29],"while":[30],"other":[32],"used":[33,77],"motor":[34],"current":[35],"values":[36],"measure":[38],"forces":[39,108],"and":[40,133,150],"torques.":[41],"Many":[42],"approaches":[43],"force":[46,86,99,130,146],"control":[47,100,147],"have":[48],"been":[49],"examined":[50],"in":[51,63,78],"past.":[53],"However,":[54],"it":[55],"is":[56,101],"often":[57],"difficult":[58],"implement":[60],"these":[61],"algorithms":[62],"commercial":[64],"systems,":[65],"as":[66],"controller":[69],"lacks":[70],"adequate":[71],"programming":[72],"features.":[73],"The":[74],"robotic":[75],"system":[76],"included":[81],"a":[82,141],"precast":[83,158],"functions":[84],"It":[88],"seems":[89],"necessary":[90],"study":[92],"behavior":[94],"such":[96],"when":[98],"activated.":[102],"In":[103,121,139],"particular,":[104],"we":[105],"analyzed":[106],"where":[109],"end-effector":[111],"made":[112],"contact":[113,129],"its":[115],"environment":[116],"(coming":[117],"from":[118],"free":[119],"space).":[120],"case":[123],"persistent":[125],"contact,":[126],"desired":[128],"altered,":[132],"step":[135],"responses":[136],"investigated.":[138],"addition,":[140],"more":[142],"complex":[143],"task":[144],"involving":[145],"developed":[149],"presented":[151],"evaluate":[153],"quality":[155],"force-control":[159],"functions.":[160]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
