{"id":"https://openalex.org/W3002290571","doi":"https://doi.org/10.1109/robio49542.2019.8961542","title":"Task Cartesian Coordinate Frame based High Precision 3-D Adaptive Robust Contouring Control","display_name":"Task Cartesian Coordinate Frame based High Precision 3-D Adaptive Robust Contouring Control","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W3002290571","doi":"https://doi.org/10.1109/robio49542.2019.8961542","mag":"3002290571"},"language":"en","primary_location":{"id":"doi:10.1109/robio49542.2019.8961542","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961542","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5100361525","display_name":"Zhihao Zhang","orcid":"https://orcid.org/0000-0001-7814-6913"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhihao Zhang","raw_affiliation_strings":["School of Mechatronics Engineering and Automation, Harbin Institute of Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering and Automation, Harbin Institute of Technology, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103029569","display_name":"Ran Shi","orcid":"https://orcid.org/0000-0003-4057-4861"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ran Shi","raw_affiliation_strings":["School of Mechatronics Engineering and Automation, Harbin Institute of Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering and Automation, Harbin Institute of Technology, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087749601","display_name":"Yunjiang Lou","orcid":"https://orcid.org/0000-0001-8203-7795"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunjiang Lou","raw_affiliation_strings":["School of Mechatronics Engineering and Automation, Harbin Institute of Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering and Automation, Harbin Institute of Technology, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100361525"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.20238289,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"17","issue":null,"first_page":"1489","last_page":"1494"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9998999834060669,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9998999834060669,"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/T10188","display_name":"Advanced machining processes and optimization","score":0.9952999949455261,"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/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.994700014591217,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/contouring","display_name":"Contouring","score":0.8323742747306824},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.6928141117095947},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6889940500259399},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5831625461578369},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5415575504302979},{"id":"https://openalex.org/keywords/coordinate-system","display_name":"Coordinate system","score":0.44103533029556274},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.433444619178772},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.41898593306541443},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.35344022512435913},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3098592758178711},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28296956419944763},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08056017756462097}],"concepts":[{"id":"https://openalex.org/C2779104521","wikidata":"https://www.wikidata.org/wiki/Q23058469","display_name":"Contouring","level":2,"score":0.8323742747306824},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.6928141117095947},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6889940500259399},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5831625461578369},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5415575504302979},{"id":"https://openalex.org/C80551277","wikidata":"https://www.wikidata.org/wiki/Q11210","display_name":"Coordinate system","level":2,"score":0.44103533029556274},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.433444619178772},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.41898593306541443},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35344022512435913},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3098592758178711},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28296956419944763},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08056017756462097},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"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/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robio49542.2019.8961542","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961542","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},{"id":"mag:3093556399","is_oa":false,"landing_page_url":"https://jglobal.jst.go.jp/en/detail?JGLOBAL_ID=202002245530495258","pdf_url":null,"source":{"id":"https://openalex.org/S4306512817","display_name":"IEEE Conference Proceedings","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":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":"IEEE Conference Proceedings","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W2033746539","https://openalex.org/W2047900073","https://openalex.org/W2052343558","https://openalex.org/W2060796260","https://openalex.org/W2080026597","https://openalex.org/W2121151459","https://openalex.org/W2154790847","https://openalex.org/W2171310383","https://openalex.org/W2347171711","https://openalex.org/W2415954549","https://openalex.org/W2766402174","https://openalex.org/W2796515350","https://openalex.org/W6685510970"],"related_works":["https://openalex.org/W1020620338","https://openalex.org/W1036286070","https://openalex.org/W2372486955","https://openalex.org/W2138013202","https://openalex.org/W4385733071","https://openalex.org/W2247326821","https://openalex.org/W2966740236","https://openalex.org/W4212946320","https://openalex.org/W2612035765","https://openalex.org/W203158893"],"abstract_inverted_index":{"Contouring":[0],"error":[1,23],"is":[2,26,48,74,85],"an":[3,43],"important":[4],"index":[5],"for":[6,19],"the":[7,21,33,62,77,83,88,116,121],"surface":[8],"precision":[9,114],"of":[10,64,123],"work":[11],"pieces":[12],"in":[13,50,96,107],"tracking":[14],"motion.":[15],"In":[16,56],"this":[17],"paper,":[18],"settle":[20],"contouring":[22,39,113],"estimation":[24],"which":[25,73],"only":[27],"calculated":[28],"on":[29],"tangent":[30],"line":[31],"along":[32],"desired":[34],"trajectory":[35],"and":[36,119],"improve":[37],"3-D":[38],"performance":[40],"under":[41,115],"disturbances,":[42],"adaptive":[44],"robust":[45],"controller":[46,65,84,104],"(ARC)":[47],"adopted":[49],"task":[51,78],"cartesian":[52],"coordinate":[53,79],"frame":[54,80],"(TCCF).":[55],"addition,":[57],"The":[58],"TCCF":[59,108],"can":[60,90,109],"reduce":[61,120],"number":[63,122],"from":[66],"three":[67],"dimension":[68],"regulation":[69],"problem":[70],"to":[71],"two":[72],"compared":[75],"with":[76,102],"(TCF).":[81],"Theoretically,":[82],"proved":[86],"that":[87],"stability":[89],"be":[91],"achieved.":[92],"Experiments":[93],"are":[94],"conducted":[95],"a":[97],"three-axis":[98],"servo":[99],"system.":[100],"Compared":[101],"computed-torque":[103],"(CTC),":[105],"ARC":[106],"get":[110],"higher":[111],"overall":[112],"disturbances":[117],"drastically":[118],"controllers.":[124]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}