{"id":"https://openalex.org/W3002682621","doi":"https://doi.org/10.1109/robio49542.2019.8961851","title":"Optimal Reaction Control for the Flexible Base Redundant Manipulator System","display_name":"Optimal Reaction Control for the Flexible Base Redundant Manipulator System","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W3002682621","doi":"https://doi.org/10.1109/robio49542.2019.8961851","mag":"3002682621"},"language":"en","primary_location":{"id":"doi:10.1109/robio49542.2019.8961851","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961851","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/A5100677013","display_name":"Yaowen Zhang","orcid":"https://orcid.org/0000-0001-5881-9586"},"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":"Yaowen Zhang","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102925807","display_name":"Yechao Liu","orcid":"https://orcid.org/0000-0003-2026-222X"},"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":"Yechao Liu","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006416939","display_name":"Zongwu Xie","orcid":"https://orcid.org/0000-0003-4450-8730"},"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":"Zongwu Xie","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031639432","display_name":"Mehrdad Moallem","orcid":"https://orcid.org/0000-0003-4700-7026"},"institutions":[{"id":"https://openalex.org/I18014758","display_name":"Simon Fraser University","ror":"https://ror.org/0213rcc28","country_code":"CA","type":"education","lineage":["https://openalex.org/I18014758"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mehrdad Moallem","raw_affiliation_strings":["School of Mechatronic Systems Engineering, Simon Fraser University, Vancouver, Canada"],"affiliations":[{"raw_affiliation_string":"School of Mechatronic Systems Engineering, Simon Fraser University, Vancouver, Canada","institution_ids":["https://openalex.org/I18014758"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100677013"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.1684,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.5288027,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"2019","issue":null,"first_page":"515","last_page":"520"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9995999932289124,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9995999932289124,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9950000047683716,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9944999814033508,"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/control-theory","display_name":"Control theory (sociology)","score":0.8047080636024475},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.6817445755004883},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6263349056243896},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.6087580323219299},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5642598271369934},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.5444021224975586},{"id":"https://openalex.org/keywords/reaction","display_name":"Reaction","score":0.5325996279716492},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5253533720970154},{"id":"https://openalex.org/keywords/deflection","display_name":"Deflection (physics)","score":0.4868621230125427},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.4801737368106842},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.466217577457428},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39119720458984375},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2650735378265381},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.25180184841156006},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20740577578544617},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.17734208703041077},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16201937198638916},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08874288201332092},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.08179071545600891}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8047080636024475},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.6817445755004883},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6263349056243896},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.6087580323219299},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5642598271369934},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.5444021224975586},{"id":"https://openalex.org/C99664630","wikidata":"https://www.wikidata.org/wiki/Q343546","display_name":"Reaction","level":2,"score":0.5325996279716492},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5253533720970154},{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.4868621230125427},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.4801737368106842},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.466217577457428},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39119720458984375},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2650735378265381},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.25180184841156006},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20740577578544617},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.17734208703041077},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16201937198638916},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08874288201332092},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.08179071545600891},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robio49542.2019.8961851","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961851","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:3049268332","is_oa":false,"landing_page_url":"https://jglobal.jst.go.jp/en/detail?JGLOBAL_ID=202002274083842439","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":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.8799999952316284}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1985144336","https://openalex.org/W1988436329","https://openalex.org/W2012629608","https://openalex.org/W2016514184","https://openalex.org/W2023248353","https://openalex.org/W2047359150","https://openalex.org/W2086076443","https://openalex.org/W2122587290","https://openalex.org/W2128439950","https://openalex.org/W2129133976","https://openalex.org/W2129866259","https://openalex.org/W2150190058","https://openalex.org/W2151547665","https://openalex.org/W2165876252"],"related_works":["https://openalex.org/W2007405763","https://openalex.org/W1486373823","https://openalex.org/W3136087161","https://openalex.org/W2053762185","https://openalex.org/W2119578520","https://openalex.org/W2018238589","https://openalex.org/W2145980196","https://openalex.org/W1984283682","https://openalex.org/W1965462258","https://openalex.org/W1587352729"],"abstract_inverted_index":{"The":[0],"null":[1],"space":[2],"of":[3,34,58,80,158],"the":[4,7,22,28,32,35,42,56,68,72,78,81,84,90,102,111,116,123,128,133],"Jacobian":[5],"for":[6,110],"redundant":[8,25],"manipulators":[9,136],"can":[10,153],"be":[11,38,154],"utilized":[12],"to":[13,105],"reach":[14],"dual":[15],"control":[16,104,130],"goals":[17,52,119],"and":[18,62,83,98,120],"optimal":[19,51,94,108,118,148],"effects.":[20],"For":[21],"flexible":[23,142,159],"base":[24,59,63,69,82,160],"manipulator":[26,36],"system,":[27],"reaction":[29,70,73],"force":[30],"from":[31],"motion":[33],"should":[37],"carefully":[39],"handled":[40],"while":[41],"end":[43],"effector":[44],"is":[45,75,87,96],"tracking":[46],"a":[47,140],"desired":[48],"trajectory.":[49],"Different":[50],"are":[53],"discussed,":[54],"including":[55],"minimization":[57],"deflection":[60,85],"force/torque":[61,74],"energy":[64,86],"dissipation":[65],"path.":[66],"Considering":[67],"dynamic,":[71],"treated":[76,88],"as":[77,89],"input":[79],"output,":[91],"an":[92,107],"integrated":[93],"goal":[95,149],"built":[97],"solved":[99],"based":[100],"on":[101,132,139],"LQR":[103,151],"get":[106],"feedback":[109],"closed-loop":[112],"dynamics.":[113],"We":[114,126],"discuss":[115],"different":[117,129],"implement":[121],"trough":[122],"redefined":[124],"acceleration.":[125],"test":[127],"laws":[131],"three-":[134],"link":[135],"which":[137],"mounted":[138],"three-DoF":[141],"base.":[143],"Simulation":[144],"results":[145],"demonstrate":[146],"that":[147],"in":[150,156],"form":[152],"advantageous":[155],"terms":[157],"manipulator.":[161]},"counts_by_year":[{"year":2022,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
