{"id":"https://openalex.org/W3001813615","doi":"https://doi.org/10.1109/robio49542.2019.8961596","title":"Decoupling Control and Simulation of a 3-RSR Spheroid Parallel Wrist","display_name":"Decoupling Control and Simulation of a 3-RSR Spheroid Parallel Wrist","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W3001813615","doi":"https://doi.org/10.1109/robio49542.2019.8961596","mag":"3001813615"},"language":"en","primary_location":{"id":"doi:10.1109/robio49542.2019.8961596","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961596","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/A5103187391","display_name":"Cai Xiao","orcid":"https://orcid.org/0000-0001-8764-536X"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cai Xiao","raw_affiliation_strings":["Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab(BIRL),School of Electromechanical Engineering,Guangzhou,China,510006","Biomimetic and Intelligent Robotics Lab(BIRL),School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab(BIRL),School of Electromechanical Engineering,Guangzhou,China,510006","institution_ids":["https://openalex.org/I139024713"]},{"raw_affiliation_string":"Biomimetic and Intelligent Robotics Lab(BIRL),School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110958945","display_name":"Hao Jiang","orcid":"https://orcid.org/0009-0001-8534-4130"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Jiang","raw_affiliation_strings":["Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab(BIRL),School of Electromechanical Engineering,Guangzhou,China,510006","Biomimetic and Intelligent Robotics Lab(BIRL),School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab(BIRL),School of Electromechanical Engineering,Guangzhou,China,510006","institution_ids":["https://openalex.org/I139024713"]},{"raw_affiliation_string":"Biomimetic and Intelligent Robotics Lab(BIRL),School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100633436","display_name":"Guoying Zhang","orcid":"https://orcid.org/0000-0001-9568-3702"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guoying Zhang","raw_affiliation_strings":["Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab(BIRL),School of Electromechanical Engineering,Guangzhou,China,510006","Biomimetic and Intelligent Robotics Lab(BIRL),School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab(BIRL),School of Electromechanical Engineering,Guangzhou,China,510006","institution_ids":["https://openalex.org/I139024713"]},{"raw_affiliation_string":"Biomimetic and Intelligent Robotics Lab(BIRL),School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100375879","display_name":"Tao Zhang","orcid":"https://orcid.org/0000-0003-0557-9018"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Zhang","raw_affiliation_strings":["Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab(BIRL),School of Electromechanical Engineering,Guangzhou,China,510006","Biomimetic and Intelligent Robotics Lab(BIRL),School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab(BIRL),School of Electromechanical Engineering,Guangzhou,China,510006","institution_ids":["https://openalex.org/I139024713"]},{"raw_affiliation_string":"Biomimetic and Intelligent Robotics Lab(BIRL),School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013471002","display_name":"Yisheng Guan","orcid":"https://orcid.org/0000-0002-7011-0331"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yisheng Guan","raw_affiliation_strings":["Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab(BIRL),School of Electromechanical Engineering,Guangzhou,China,510006","Biomimetic and Intelligent Robotics Lab(BIRL),School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab(BIRL),School of Electromechanical Engineering,Guangzhou,China,510006","institution_ids":["https://openalex.org/I139024713"]},{"raw_affiliation_string":"Biomimetic and Intelligent Robotics Lab(BIRL),School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070515519","display_name":"Guanfeng Liu","orcid":"https://orcid.org/0000-0001-8980-4950"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guanfeng Liu","raw_affiliation_strings":["Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab(BIRL),School of Electromechanical Engineering,Guangzhou,China,510006","Biomimetic and Intelligent Robotics Lab(BIRL),School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab(BIRL),School of Electromechanical Engineering,Guangzhou,China,510006","institution_ids":["https://openalex.org/I139024713"]},{"raw_affiliation_string":"Biomimetic and Intelligent Robotics Lab(BIRL),School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I139024713"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.20143943,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"989","last_page":"994"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9930999875068665,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9930999875068665,"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":0.9312000274658203,"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/spheroid","display_name":"Spheroid","score":0.8449900150299072},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.8357717394828796},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5728004574775696},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5590726137161255},{"id":"https://openalex.org/keywords/wrist","display_name":"Wrist","score":0.5349299907684326},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3882175087928772},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3520447015762329},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.27972912788391113},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22917413711547852},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10483753681182861},{"id":"https://openalex.org/keywords/chemistry","display_name":"Chemistry","score":0.0973745584487915}],"concepts":[{"id":"https://openalex.org/C175369904","wikidata":"https://www.wikidata.org/wiki/Q208395","display_name":"Spheroid","level":3,"score":0.8449900150299072},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.8357717394828796},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5728004574775696},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5590726137161255},{"id":"https://openalex.org/C2778216619","wikidata":"https://www.wikidata.org/wiki/Q185706","display_name":"Wrist","level":2,"score":0.5349299907684326},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3882175087928772},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3520447015762329},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.27972912788391113},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22917413711547852},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10483753681182861},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0973745584487915},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C202751555","wikidata":"https://www.wikidata.org/wiki/Q221681","display_name":"In vitro","level":2,"score":0.0},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio49542.2019.8961596","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961596","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8600000143051147,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1896081513","https://openalex.org/W2059163735","https://openalex.org/W2066133103","https://openalex.org/W2070962894","https://openalex.org/W2098357050","https://openalex.org/W2105479501","https://openalex.org/W2105797869","https://openalex.org/W2109811495","https://openalex.org/W2120329568","https://openalex.org/W2161485567","https://openalex.org/W2170645823","https://openalex.org/W2171178391","https://openalex.org/W3145213633"],"related_works":["https://openalex.org/W2050956753","https://openalex.org/W2184533732","https://openalex.org/W2034330200","https://openalex.org/W3045873720","https://openalex.org/W2111152401","https://openalex.org/W2906127908","https://openalex.org/W2408054456","https://openalex.org/W3170737935","https://openalex.org/W3046890897","https://openalex.org/W4207051211"],"abstract_inverted_index":{"The":[0,93,142],"control":[1,22,85,94,101,150],"of":[2,54,62,131,148],"position":[3,25],"and":[4,26,51,66,107,126],"trajectory":[5],"tracking":[6,15],"are":[7,18],"critical":[8],"issues":[9],"in":[10,33,123],"parallel":[11,91],"robots.":[12],"Traditional":[13],"PID":[14],"algorithms,":[16],"which":[17],"based":[19,137],"on":[20,138],"kinematics":[21],"use":[23],"the":[24,48,115,124,146,149],"speed":[27],"deviation":[28],"as":[29],"a":[30,37,55,81,88,97],"negative":[31],"feedback":[32],"order":[34],"to":[35,46,71],"design":[36],"controller.":[38,110,163],"However,":[39],"this":[40,78],"method":[41,102],"is":[42,59,119,156],"not":[43],"only":[44],"hard":[45],"maintain":[47],"excellent":[49],"dynamic":[50,133],"static":[52],"quality":[53],"system,":[56],"but":[57],"it":[58,67],"also":[60],"incapable":[61],"realizing":[63],"complete":[64],"decoupling,":[65],"needs":[68],"large":[69],"energy":[70],"be":[72],"controlled.":[73],"To":[74],"overcome":[75],"such":[76],"drawbacks,":[77],"paper":[79],"proposes,":[80],"computed":[82,98],"torque":[83,99],"decoupling":[84,100],"strategy":[86,95],"for":[87],"3-RSR":[89],"spheroid":[90],"mechanism.":[92],"includes":[96],"with":[103,152,161],"traditional":[104],"PD":[105,162],"controller":[106,155],"self-adaption":[108,153],"fuzzy":[109,154],"It":[111],"was":[112],"proved":[113],"that":[114,145,160],"corresponding":[116],"Lyapunov":[117],"function":[118],"global":[120],"asymptotic":[121],"stable":[122],"ideal":[125],"non-ideal":[127],"estimation.":[128],"A":[129],"set":[130],"ADAMS-MATLAB":[132],"simulations":[134],"were":[135],"established":[136],"virtual":[139],"prototyping":[140],"technology.":[141],"results":[143],"demonstrated":[144],"performance":[147],"scheme":[151],"more":[157],"effective":[158],"than":[159]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
